Add HOI4D shared-v1.1 batch 708

.gitattributes

@@ -71936,3 +71936,15 @@ HOI4D/shared-v1.1/data/ZY20210800003_H3_C11_N42_S148_s05_T1/ego/observation/dept
 HOI4D/shared-v1.1/data/ZY20210800003_H3_C11_N42_S148_s05_T1/ego/observation/depth_valid.mkv filter=lfs diff=lfs merge=lfs -text
 HOI4D/shared-v1.1/data/ZY20210800003_H3_C11_N42_S148_s05_T1/ego/observation/rgb.mkv filter=lfs diff=lfs merge=lfs -text
 HOI4D/shared-v1.1/data/ZY20210800003_H3_C11_N42_S180_s05_T4/ego/annotation/segment/mask.mkv filter=lfs diff=lfs merge=lfs -text
+HOI4D/shared-v1.1/data/ZY20210800003_H3_C11_N42_S180_s05_T4/ego/observation/depth.mkv filter=lfs diff=lfs merge=lfs -text
+HOI4D/shared-v1.1/data/ZY20210800003_H3_C11_N42_S180_s05_T4/ego/observation/depth_valid.mkv filter=lfs diff=lfs merge=lfs -text
+HOI4D/shared-v1.1/data/ZY20210800003_H3_C11_N42_S180_s05_T4/ego/observation/rgb.mkv filter=lfs diff=lfs merge=lfs -text
+HOI4D/shared-v1.1/data/ZY20210800003_H3_C11_N43_S148_s05_T1/ego/annotation/segment/mask.mkv filter=lfs diff=lfs merge=lfs -text
+HOI4D/shared-v1.1/data/ZY20210800003_H3_C11_N43_S148_s05_T1/ego/observation/depth.mkv filter=lfs diff=lfs merge=lfs -text
+HOI4D/shared-v1.1/data/ZY20210800003_H3_C11_N43_S148_s05_T1/ego/observation/depth_valid.mkv filter=lfs diff=lfs merge=lfs -text
+HOI4D/shared-v1.1/data/ZY20210800003_H3_C11_N43_S148_s05_T1/ego/observation/rgb.mkv filter=lfs diff=lfs merge=lfs -text
+HOI4D/shared-v1.1/data/ZY20210800003_H3_C11_N47_S151_s01_T1/ego/annotation/segment/mask.mkv filter=lfs diff=lfs merge=lfs -text
+HOI4D/shared-v1.1/data/ZY20210800003_H3_C11_N47_S151_s01_T1/ego/observation/depth.mkv filter=lfs diff=lfs merge=lfs -text
+HOI4D/shared-v1.1/data/ZY20210800003_H3_C11_N47_S151_s01_T1/ego/observation/depth_valid.mkv filter=lfs diff=lfs merge=lfs -text
+HOI4D/shared-v1.1/data/ZY20210800003_H3_C11_N47_S151_s01_T1/ego/observation/rgb.mkv filter=lfs diff=lfs merge=lfs -text
+HOI4D/shared-v1.1/data/ZY20210800003_H3_C11_N47_S182_s01_T4/ego/annotation/segment/mask.mkv filter=lfs diff=lfs merge=lfs -text

HOI4D/shared-v1.1/data/ZY20210800003_H3_C11_N42_S180_s05_T4/ego/observation/depth.mkv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ca4fb7c537c3c66b3dc3f39ccfbf7a4b4b2cd015cbad6deb42f970d2c1a16b9f
+size 130367169

HOI4D/shared-v1.1/data/ZY20210800003_H3_C11_N42_S180_s05_T4/ego/observation/depth_valid.mkv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31749807ccb7e17ec9c4817ee5784de0a43fc971c521d3711cdc173c217abf04
+size 1123154

HOI4D/shared-v1.1/data/ZY20210800003_H3_C11_N42_S180_s05_T4/ego/observation/rgb.mkv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1503d0c1c3adac8210b65a6485c6616c8b381ed42c1e2dc25d04e9a3943af3aa
+size 6202673

HOI4D/shared-v1.1/data/ZY20210800003_H3_C11_N42_S180_s05_T4/ego/observation/rgb_valid.pt

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

HOI4D/shared-v1.1/data/ZY20210800003_H3_C11_N43_S148_s05_T1/ego/annotation/object/main/articulation.json

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

HOI4D/shared-v1.1/data/ZY20210800003_H3_C11_N43_S148_s05_T1/ego/annotation/object/main/assets/meta.json

@@ -0,0 +1 @@
+{"user_id": "leoly", "model_cat": "Pliers", "model_id": "pliers043", "version": "1", "anno_id": "262", "time_in_sec": "48"}

HOI4D/shared-v1.1/data/ZY20210800003_H3_C11_N43_S148_s05_T1/ego/annotation/object/main/assets/mobility_v2.json

@@ -0,0 +1 @@
+[{"id": 0, "parent": 1, "joint": "铰链（旋转）", "name": "left blade", "parts": [{"id": 1, "name": "left blade", "children": []}], "jointData": {"axis": {"origin": [0.032410954635415726, -0.019339704426098656, 0], "direction": [0, 0, 1]}, "limit": {"a": 19.44, "b": 0, "noLimit": false}}}, {"id": 1, "parent": -1, "joint": "自由", "name": "right blade", "parts": [{"id": 2, "name": "right blade", "children": []}], "jointData": {}}]

HOI4D/shared-v1.1/data/ZY20210800003_H3_C11_N43_S148_s05_T1/ego/annotation/object/main/assets/result.json

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

HOI4D/shared-v1.1/data/ZY20210800003_H3_C11_N43_S148_s05_T1/ego/annotation/object/main/metainfo.json

@@ -0,0 +1,20 @@
+{
+  "object_id": "main",
+  "identity_scope": "sequence",
+  "scope_id": "ZY20210800003_H3_C11_N43_S148_s05_T1",
+  "source_locator": {
+    "file": "/data0/xuzhefeng/Datasets/HOI4D/raw/data/HOI4D_annotations.zip",
+    "member": "HOI4D_annotations/ZY20210800003/H3/C11/N43/S148/s05/T1/2Dseg/shift_mask/00000.png",
+    "sha256": "f7315f9935c57ecbfcf48b403161b54a3e3a3f2adc84dacc6889683937bb94bb"
+  },
+  "has_model": true,
+  "category_id": 11,
+  "source_object_id": null,
+  "asset_refs": [
+    "annotation/object/main/assets/objs/new-1.obj",
+    "annotation/object/main/assets/objs/new-0-align.obj",
+    "annotation/object/main/assets/objs/new-1-align.obj",
+    "annotation/object/main/assets/objs/new-0.obj"
+  ],
+  "articulation_ref": "annotation/object/main/articulation.json"
+}

HOI4D/shared-v1.1/data/ZY20210800003_H3_C11_N43_S148_s05_T1/ego/annotation/object/main/object.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e69a743f829ecc02586ea96e6f5b40940f2be07a64f6ef5e5a9fd7e97a9b6b5b
+size 50089

HOI4D/shared-v1.1/data/ZY20210800003_H3_C11_N43_S148_s05_T1/ego/annotation/segment/mask.mkv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8e76cf8cdbca56c09a7042352067a62f2b6d896290472380a6712e78601cb0d8
+size 4226996

HOI4D/shared-v1.1/data/ZY20210800003_H3_C11_N43_S148_s05_T1/ego/annotation/segment/mask_valid.pt

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

HOI4D/shared-v1.1/data/ZY20210800003_H3_C11_N43_S148_s05_T1/ego/camera/camera.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:053cfc744e171895fd5db3f3629b7b02e3963c99e70cef92fffd862e6b51073c
+size 32881

HOI4D/shared-v1.1/data/ZY20210800003_H3_C11_N43_S148_s05_T1/ego/metainfo.json

@@ -0,0 +1,677 @@
+{
+  "schema_version": "hand-warehouse/1.1",
+  "dataset_id": "HOI4D",
+  "release_id": "shared-v1.1",
+  "sequence_id": "ZY20210800003_H3_C11_N43_S148_s05_T1",
+  "camera_id": "ego",
+  "sample_type": "video",
+  "num_frames": 300,
+  "hand_slots": [
+    "left",
+    "right"
+  ],
+  "sampling": {
+    "type": "dense",
+    "source_fps": null,
+    "frames_ref": "camera/frames.jsonl",
+    "selection": {
+      "max_frames": null,
+      "source_sequence": "ZY20210800003/H3/C11/N43/S148/s05/T1"
+    }
+  },
+  "camera": {
+    "model": "pinhole",
+    "schema_id": "camera/pinhole/v1",
+    "image_size": [
+      1920,
+      1080
+    ]
+  },
+  "components": {
+    "rgb": {
+      "available": true,
+      "schema_id": "rgb/uint8/v1",
+      "data_ref": "observation/rgb.mkv",
+      "axes": [
+        "T",
+        "height",
+        "width",
+        "channel"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Verified source packet copy or lossless fixed-decoder RGB encoding"
+      },
+      "source_locator": {
+        "file": "/data0/xuzhefeng/Datasets/HOI4D/raw/data/HOI4D_release.zip",
+        "member": "HOI4D_release/ZY20210800003/H3/C11/N43/S148/s05/T1/align_rgb/image.mp4"
+      },
+      "storage": {
+        "profile": "mkv/source_copy/v1",
+        "codec": "h264",
+        "pixel_format": "yuv420p",
+        "encoded_size": [
+          1920,
+          1080
+        ],
+        "decoder": {
+          "name": "ffmpeg",
+          "version": "ffmpeg version 6.1.1-3ubuntu5 Copyright (c) 2000-2023 the FFmpeg developers",
+          "autorotate": false,
+          "color_space": "unknown",
+          "color_range": "unknown",
+          "color_primaries": "unknown",
+          "color_transfer": "unknown"
+        },
+        "encoder_parameters": {
+          "version": "ffmpeg version 6.1.1-3ubuntu5 Copyright (c) 2000-2023 the FFmpeg developers",
+          "stream_copy": true,
+          "keyframe_indices": [
+            0,
+            67,
+            183,
+            282
+          ]
+        },
+        "source_lossy": "unknown",
+        "storage_fps": "15/1",
+        "timebase_role": "index_only",
+        "preserve_source_pts": true
+      },
+      "valid_ref": "observation/rgb_valid.pt",
+      "valid_axes": [
+        "T"
+      ]
+    },
+    "intrinsic": {
+      "available": true,
+      "schema_id": "camera/pinhole/v1",
+      "data_ref": "camera/camera.pt",
+      "axes": [
+        "T",
+        "row",
+        "column"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "file": "/data0/xuzhefeng/Datasets/HOI4D/raw/data/camera_params.zip",
+        "member": "camera_params/ZY20210800003/intrin.npy"
+      },
+      "valid_ref": "camera/camera.pt",
+      "valid_axes": [
+        "T"
+      ],
+      "data_key": [
+        "intrinsic",
+        "data"
+      ],
+      "valid_key": [
+        "intrinsic",
+        "valid"
+      ],
+      "storage": {
+        "profile": "pt/tensor_bundle/v1"
+      },
+      "valid_storage": {
+        "profile": "pt/tensor_bundle/v1"
+      }
+    },
+    "extrinsic": {
+      "available": true,
+      "schema_id": "transform/se3/v1",
+      "data_ref": "camera/camera.pt",
+      "axes": [
+        "T",
+        "row",
+        "column"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "file": "/data0/xuzhefeng/Datasets/HOI4D/raw/data/HOI4D_annotations.zip",
+        "member": "HOI4D_annotations/ZY20210800003/H3/C11/N43/S148/s05/T1/3Dseg/output.log"
+      },
+      "valid_ref": "camera/camera.pt",
+      "valid_axes": [
+        "T"
+      ],
+      "convention": "T_camera_from_world",
+      "source_convention": "Open3D LOG camera-to-world; inverted",
+      "data_key": [
+        "extrinsic",
+        "data"
+      ],
+      "valid_key": [
+        "extrinsic",
+        "valid"
+      ],
+      "storage": {
+        "profile": "pt/tensor_bundle/v1"
+      },
+      "valid_storage": {
+        "profile": "pt/tensor_bundle/v1"
+      }
+    },
+    "segment": {
+      "available": true,
+      "schema_id": "segment/uint16_labels/v1",
+      "data_ref": "annotation/segment/mask.mkv",
+      "axes": [
+        "T",
+        "height",
+        "width"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "frames_ref": "camera/frames.jsonl",
+        "source_field": "component_sources"
+      },
+      "storage": {
+        "profile": "mkv/uint16_ffv1/v1",
+        "codec": "ffv1",
+        "pixel_format": "gray16le",
+        "encoded_size": [
+          1920,
+          1080
+        ],
+        "decoder": {
+          "name": "ffmpeg",
+          "version": "ffmpeg version 6.1.1-3ubuntu5 Copyright (c) 2000-2023 the FFmpeg developers",
+          "autorotate": false,
+          "color_space": "unknown",
+          "color_range": "unknown",
+          "color_primaries": "unknown",
+          "color_transfer": "unknown"
+        },
+        "encoder_parameters": {
+          "version": "ffmpeg version 6.1.1-3ubuntu5 Copyright (c) 2000-2023 the FFmpeg developers",
+          "name": "ffv1",
+          "arguments": [],
+          "threads": 2
+        },
+        "source_lossy": false,
+        "storage_fps": 30,
+        "timebase_role": "index_only"
+      },
+      "valid_ref": "annotation/segment/mask_valid.pt",
+      "valid_axes": [
+        "T"
+      ],
+      "segmentation_type": "part",
+      "mapping_ref": "annotation/segment/instances.jsonl",
+      "coverage": {
+        "kind": "unknown"
+      },
+      "valid_policy": {
+        "revision": "usable-annotation-2026-09-20",
+        "meaning": "annotation usable for supervision, not merely record presence",
+        "source_rule": "Source mask or shift_mask present with verified palette codes and entity/part mapping",
+        "source_locator": {
+          "frames_ref": "camera/frames.jsonl",
+          "source_field": "component_sources"
+        },
+        "scope": [
+          "T"
+        ],
+        "numerical_checks": "Schema shape, finite valid floats, SE(3) where applicable; malformed input aborts",
+        "official_qa": {
+          "status": "not_provided",
+          "reason": "No separate applicable official QA in selected source inputs"
+        },
+        "local_excluded_frame_indices": [],
+        "local_exclusion_reasons": {},
+        "visibility_independent": true
+      }
+    },
+    "pose_main_pose_Pliersleft": {
+      "available": true,
+      "schema_id": "transform/se3/v1",
+      "data_ref": "annotation/object/main/object.pt",
+      "axes": [
+        "T",
+        "row",
+        "column"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "frames_ref": "camera/frames.jsonl",
+        "source_field": "component_sources"
+      },
+      "valid_ref": "annotation/object/main/object.pt",
+      "valid_axes": [
+        "T"
+      ],
+      "convention": "T_camera_from_part",
+      "unit": "m",
+      "source_label": "Pliersleft",
+      "source_euler_order": "XYZ",
+      "definition": "https://github.com/hoi4d/ObjTracking/blob/main/process_data.py",
+      "valid_policy": {
+        "revision": "usable-annotation-2026-09-20",
+        "meaning": "annotation usable for supervision, not merely record presence",
+        "source_rule": "Matched source object record contains rotation and center; record identity retained",
+        "source_locator": {
+          "frames_ref": "camera/frames.jsonl",
+          "source_field": "component_sources"
+        },
+        "scope": [
+          "T"
+        ],
+        "numerical_checks": "Schema shape, finite valid floats, SE(3) where applicable; malformed input aborts",
+        "official_qa": {
+          "status": "not_provided",
+          "reason": "No separate applicable official QA in selected source inputs"
+        },
+        "local_excluded_frame_indices": [],
+        "local_exclusion_reasons": {},
+        "visibility_independent": true
+      },
+      "data_key": [
+        "parts",
+        "pose_Pliersleft",
+        "pose",
+        "data"
+      ],
+      "valid_key": [
+        "parts",
+        "pose_Pliersleft",
+        "pose",
+        "valid"
+      ],
+      "storage": {
+        "profile": "pt/tensor_bundle/v1"
+      },
+      "valid_storage": {
+        "profile": "pt/tensor_bundle/v1"
+      }
+    },
+    "dimensions_main_pose_Pliersleft": {
+      "available": true,
+      "schema_id": "object/dimensions/v1",
+      "data_ref": "annotation/object/main/object.pt",
+      "axes": [
+        "T",
+        "dimension"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "frames_ref": "camera/frames.jsonl",
+        "source_field": "component_sources"
+      },
+      "valid_ref": "annotation/object/main/object.pt",
+      "valid_axes": [
+        "T"
+      ],
+      "dimensions_semantics": "source_unspecified",
+      "unit": "m",
+      "scale_applied_to_mesh": false,
+      "valid_policy": {
+        "revision": "usable-annotation-2026-09-20",
+        "meaning": "annotation usable for supervision, not merely record presence",
+        "source_rule": "Matched source object record contains dimensions; size/mesh relation remains source_unspecified",
+        "source_locator": {
+          "frames_ref": "camera/frames.jsonl",
+          "source_field": "component_sources"
+        },
+        "scope": [
+          "T"
+        ],
+        "numerical_checks": "Schema shape, finite valid floats, SE(3) where applicable; malformed input aborts",
+        "official_qa": {
+          "status": "not_provided",
+          "reason": "No separate applicable official QA in selected source inputs"
+        },
+        "local_excluded_frame_indices": [],
+        "local_exclusion_reasons": {},
+        "visibility_independent": true
+      },
+      "data_key": [
+        "parts",
+        "pose_Pliersleft",
+        "dimensions",
+        "data"
+      ],
+      "valid_key": [
+        "parts",
+        "pose_Pliersleft",
+        "dimensions",
+        "valid"
+      ],
+      "storage": {
+        "profile": "pt/tensor_bundle/v1"
+      },
+      "valid_storage": {
+        "profile": "pt/tensor_bundle/v1"
+      }
+    },
+    "pose_main_pose_Pliersright": {
+      "available": true,
+      "schema_id": "transform/se3/v1",
+      "data_ref": "annotation/object/main/object.pt",
+      "axes": [
+        "T",
+        "row",
+        "column"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "frames_ref": "camera/frames.jsonl",
+        "source_field": "component_sources"
+      },
+      "valid_ref": "annotation/object/main/object.pt",
+      "valid_axes": [
+        "T"
+      ],
+      "convention": "T_camera_from_part",
+      "unit": "m",
+      "source_label": "Pliersright",
+      "source_euler_order": "XYZ",
+      "definition": "https://github.com/hoi4d/ObjTracking/blob/main/process_data.py",
+      "valid_policy": {
+        "revision": "usable-annotation-2026-09-20",
+        "meaning": "annotation usable for supervision, not merely record presence",
+        "source_rule": "Matched source object record contains rotation and center; record identity retained",
+        "source_locator": {
+          "frames_ref": "camera/frames.jsonl",
+          "source_field": "component_sources"
+        },
+        "scope": [
+          "T"
+        ],
+        "numerical_checks": "Schema shape, finite valid floats, SE(3) where applicable; malformed input aborts",
+        "official_qa": {
+          "status": "not_provided",
+          "reason": "No separate applicable official QA in selected source inputs"
+        },
+        "local_excluded_frame_indices": [],
+        "local_exclusion_reasons": {},
+        "visibility_independent": true
+      },
+      "data_key": [
+        "parts",
+        "pose_Pliersright",
+        "pose",
+        "data"
+      ],
+      "valid_key": [
+        "parts",
+        "pose_Pliersright",
+        "pose",
+        "valid"
+      ],
+      "storage": {
+        "profile": "pt/tensor_bundle/v1"
+      },
+      "valid_storage": {
+        "profile": "pt/tensor_bundle/v1"
+      }
+    },
+    "dimensions_main_pose_Pliersright": {
+      "available": true,
+      "schema_id": "object/dimensions/v1",
+      "data_ref": "annotation/object/main/object.pt",
+      "axes": [
+        "T",
+        "dimension"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "frames_ref": "camera/frames.jsonl",
+        "source_field": "component_sources"
+      },
+      "valid_ref": "annotation/object/main/object.pt",
+      "valid_axes": [
+        "T"
+      ],
+      "dimensions_semantics": "source_unspecified",
+      "unit": "m",
+      "scale_applied_to_mesh": false,
+      "valid_policy": {
+        "revision": "usable-annotation-2026-09-20",
+        "meaning": "annotation usable for supervision, not merely record presence",
+        "source_rule": "Matched source object record contains dimensions; size/mesh relation remains source_unspecified",
+        "source_locator": {
+          "frames_ref": "camera/frames.jsonl",
+          "source_field": "component_sources"
+        },
+        "scope": [
+          "T"
+        ],
+        "numerical_checks": "Schema shape, finite valid floats, SE(3) where applicable; malformed input aborts",
+        "official_qa": {
+          "status": "not_provided",
+          "reason": "No separate applicable official QA in selected source inputs"
+        },
+        "local_excluded_frame_indices": [],
+        "local_exclusion_reasons": {},
+        "visibility_independent": true
+      },
+      "data_key": [
+        "parts",
+        "pose_Pliersright",
+        "dimensions",
+        "data"
+      ],
+      "valid_key": [
+        "parts",
+        "pose_Pliersright",
+        "dimensions",
+        "valid"
+      ],
+      "storage": {
+        "profile": "pt/tensor_bundle/v1"
+      },
+      "valid_storage": {
+        "profile": "pt/tensor_bundle/v1"
+      }
+    },
+    "mesh_main_objs_new_1_obj": {
+      "available": true,
+      "schema_id": "mesh/obj/v1",
+      "data_ref": "annotation/object/main/assets/objs/new-1.obj",
+      "axes": [
+        "vertex"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "file": "/data0/xuzhefeng/Datasets/HOI4D/raw/data/HOI4D_CAD_Model_for_release.zip",
+        "member": "HOI4D_CAD_Model_for_release/articulated/Pliers/043/objs/new-1.obj"
+      },
+      "unit": "m",
+      "valid": true,
+      "scale_applied_to_mesh": false,
+      "dimensions_semantics": "source_unspecified"
+    },
+    "mesh_main_objs_new_0_align_obj": {
+      "available": true,
+      "schema_id": "mesh/obj/v1",
+      "data_ref": "annotation/object/main/assets/objs/new-0-align.obj",
+      "axes": [
+        "vertex"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "file": "/data0/xuzhefeng/Datasets/HOI4D/raw/data/HOI4D_CAD_Model_for_release.zip",
+        "member": "HOI4D_CAD_Model_for_release/articulated/Pliers/043/objs/new-0-align.obj"
+      },
+      "unit": "m",
+      "valid": true,
+      "scale_applied_to_mesh": false,
+      "dimensions_semantics": "source_unspecified"
+    },
+    "mesh_main_objs_new_1_align_obj": {
+      "available": true,
+      "schema_id": "mesh/obj/v1",
+      "data_ref": "annotation/object/main/assets/objs/new-1-align.obj",
+      "axes": [
+        "vertex"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "file": "/data0/xuzhefeng/Datasets/HOI4D/raw/data/HOI4D_CAD_Model_for_release.zip",
+        "member": "HOI4D_CAD_Model_for_release/articulated/Pliers/043/objs/new-1-align.obj"
+      },
+      "unit": "m",
+      "valid": true,
+      "scale_applied_to_mesh": false,
+      "dimensions_semantics": "source_unspecified"
+    },
+    "mesh_main_objs_new_0_obj": {
+      "available": true,
+      "schema_id": "mesh/obj/v1",
+      "data_ref": "annotation/object/main/assets/objs/new-0.obj",
+      "axes": [
+        "vertex"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "file": "/data0/xuzhefeng/Datasets/HOI4D/raw/data/HOI4D_CAD_Model_for_release.zip",
+        "member": "HOI4D_CAD_Model_for_release/articulated/Pliers/043/objs/new-0.obj"
+      },
+      "unit": "m",
+      "valid": true,
+      "scale_applied_to_mesh": false,
+      "dimensions_semantics": "source_unspecified"
+    },
+    "articulation_main": {
+      "available": true,
+      "schema_id": "object/articulated/v1",
+      "data_ref": "annotation/object/main/articulation.json",
+      "axes": [],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "frames_ref": "camera/frames.jsonl",
+        "source_field": "component_sources"
+      }
+    },
+    "depth": {
+      "available": true,
+      "schema_id": "depth/z_float32/v1",
+      "data_ref": "observation/depth.mkv",
+      "axes": [
+        "T",
+        "height",
+        "width"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "files": [
+          "/data0/xuzhefeng/Datasets/HOI4D/raw/data/DEPTH/HOI4D_depth_video.tar.gz0",
+          "/data0/xuzhefeng/Datasets/HOI4D/raw/data/DEPTH/HOI4D_depth_video.tar.gz1",
+          "/data0/xuzhefeng/Datasets/HOI4D/raw/data/DEPTH/HOI4D_depth_video.tar.gz2",
+          "/data0/xuzhefeng/Datasets/HOI4D/raw/data/DEPTH/HOI4D_depth_video.tar.gz3",
+          "/data0/xuzhefeng/Datasets/HOI4D/raw/data/DEPTH/HOI4D_depth_video.tar.gz4",
+          "/data0/xuzhefeng/Datasets/HOI4D/raw/data/DEPTH/HOI4D_depth_video.tar.gz5",
+          "/data0/xuzhefeng/Datasets/HOI4D/raw/data/DEPTH/HOI4D_depth_video.tar.gz6"
+        ],
+        "member": "HOI4D_depth_video/ZY20210800003/H3/C11/N43/S148/s05/T1/align_depth/depth_video.avi",
+        "conversion": "registered millimetre camera-Z to metres"
+      },
+      "storage": {
+        "profile": "mkv/depth_float32_bits/v1",
+        "codec": "ffv1",
+        "pixel_format": "gray16le",
+        "encoded_size": [
+          3840,
+          1080
+        ],
+        "decoder": {
+          "name": "ffmpeg",
+          "version": "ffmpeg version 6.1.1-3ubuntu5 Copyright (c) 2000-2023 the FFmpeg developers",
+          "autorotate": false,
+          "color_space": "unknown",
+          "color_range": "unknown",
+          "color_primaries": "unknown",
+          "color_transfer": "unknown"
+        },
+        "encoder_parameters": {
+          "version": "ffmpeg version 6.1.1-3ubuntu5 Copyright (c) 2000-2023 the FFmpeg developers",
+          "name": "ffv1",
+          "arguments": [],
+          "threads": 2
+        },
+        "source_lossy": false,
+        "storage_fps": 30,
+        "timebase_role": "index_only"
+      },
+      "valid_storage": {
+        "profile": "mkv/bool_ffv1/v1",
+        "codec": "ffv1",
+        "pixel_format": "gray",
+        "encoded_size": [
+          1920,
+          1080
+        ],
+        "decoder": {
+          "name": "ffmpeg",
+          "version": "ffmpeg version 6.1.1-3ubuntu5 Copyright (c) 2000-2023 the FFmpeg developers",
+          "autorotate": false,
+          "color_space": "unknown",
+          "color_range": "unknown",
+          "color_primaries": "unknown",
+          "color_transfer": "unknown"
+        },
+        "encoder_parameters": {
+          "version": "ffmpeg version 6.1.1-3ubuntu5 Copyright (c) 2000-2023 the FFmpeg developers",
+          "name": "ffv1",
+          "arguments": [],
+          "threads": 2
+        },
+        "source_lossy": false,
+        "storage_fps": 30,
+        "timebase_role": "index_only"
+      },
+      "valid_ref": "observation/depth_valid.mkv",
+      "valid_axes": [
+        "T",
+        "height",
+        "width"
+      ],
+      "unit": "m",
+      "depth_type": "z",
+      "depth_origin": "measured",
+      "invalid_value": "NaN"
+    }
+  },
+  "split": "unknown",
+  "view_type": "ego",
+  "split_reason": "No verified official split mapping available for this sequence"
+}

HOI4D/shared-v1.1/data/ZY20210800003_H3_C11_N43_S148_s05_T1/ego/observation/depth.mkv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0a15c81531b0db91805e39db54c071401dd2ba25327c1eec5c69deb5e227942f
+size 130603214

HOI4D/shared-v1.1/data/ZY20210800003_H3_C11_N43_S148_s05_T1/ego/observation/depth_valid.mkv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3b6081f1ad8d81ea50b61f00cc85f9fe9ecb4df3f16c6ceb98c485546314baca
+size 845866

HOI4D/shared-v1.1/data/ZY20210800003_H3_C11_N43_S148_s05_T1/ego/observation/rgb.mkv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:50934c0fabf07b72028d6d7378a9bd61830f7674ec11994cd6c3f2e87abcea29
+size 4355998

HOI4D/shared-v1.1/data/ZY20210800003_H3_C11_N43_S148_s05_T1/ego/observation/rgb_valid.pt

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

HOI4D/shared-v1.1/data/ZY20210800003_H3_C11_N47_S151_s01_T1/ego/annotation/object/main/articulation.json

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

HOI4D/shared-v1.1/data/ZY20210800003_H3_C11_N47_S151_s01_T1/ego/annotation/object/main/assets/meta.json

@@ -0,0 +1 @@
+{"user_id": "leoly", "model_cat": "Pliers", "model_id": "pliers047", "version": "1", "anno_id": "263", "time_in_sec": "36"}

HOI4D/shared-v1.1/data/ZY20210800003_H3_C11_N47_S151_s01_T1/ego/annotation/object/main/assets/mobility_v2.json

@@ -0,0 +1 @@
+[{"id": 0, "parent": 1, "joint": "铰链（旋转）", "name": "left blade", "parts": [{"id": 1, "name": "left blade", "children": []}], "jointData": {"axis": {"origin": [0.031210372751113085, -0.02080032112291662, 0], "direction": [0, 0, 1]}, "limit": {"a": 18, "b": 0, "noLimit": false}}}, {"id": 1, "parent": -1, "joint": "自由", "name": "right blade", "parts": [{"id": 2, "name": "right blade", "children": []}], "jointData": {}}]

HOI4D/shared-v1.1/data/ZY20210800003_H3_C11_N47_S151_s01_T1/ego/annotation/object/main/assets/result.json

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

HOI4D/shared-v1.1/data/ZY20210800003_H3_C11_N47_S151_s01_T1/ego/annotation/object/main/metainfo.json

@@ -0,0 +1,20 @@
+{
+  "object_id": "main",
+  "identity_scope": "sequence",
+  "scope_id": "ZY20210800003_H3_C11_N47_S151_s01_T1",
+  "source_locator": {
+    "file": "/data0/xuzhefeng/Datasets/HOI4D/raw/data/HOI4D_annotations.zip",
+    "member": "HOI4D_annotations/ZY20210800003/H3/C11/N47/S151/s01/T1/2Dseg/shift_mask/00000.png",
+    "sha256": "b99a3535f61a08f85704eaa9e7dfe046512381e1fc309c2ecbf98d40a74b45d1"
+  },
+  "has_model": true,
+  "category_id": 11,
+  "source_object_id": null,
+  "asset_refs": [
+    "annotation/object/main/assets/objs/new-1.obj",
+    "annotation/object/main/assets/objs/new-0-align.obj",
+    "annotation/object/main/assets/objs/new-1-align.obj",
+    "annotation/object/main/assets/objs/new-0.obj"
+  ],
+  "articulation_ref": "annotation/object/main/articulation.json"
+}

HOI4D/shared-v1.1/data/ZY20210800003_H3_C11_N47_S151_s01_T1/ego/annotation/object/main/object.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b2be711d3adc534a7755e4dc6da2713ce9d6774e53339da44c1b2cab8899c57a
+size 50089

HOI4D/shared-v1.1/data/ZY20210800003_H3_C11_N47_S151_s01_T1/ego/annotation/segment/mask.mkv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:29785e818c547d5534391c6268c65a169149c09dca8a6fc6cd978e77539b5579
+size 3969187

HOI4D/shared-v1.1/data/ZY20210800003_H3_C11_N47_S151_s01_T1/ego/annotation/segment/mask_valid.pt

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

HOI4D/shared-v1.1/data/ZY20210800003_H3_C11_N47_S151_s01_T1/ego/camera/camera.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:92f589de9d5c31b013b1a5d34ad64971796f9aca6ce684071247c0377a361b90
+size 32881

HOI4D/shared-v1.1/data/ZY20210800003_H3_C11_N47_S151_s01_T1/ego/metainfo.json

@@ -0,0 +1,676 @@
+{
+  "schema_version": "hand-warehouse/1.1",
+  "dataset_id": "HOI4D",
+  "release_id": "shared-v1.1",
+  "sequence_id": "ZY20210800003_H3_C11_N47_S151_s01_T1",
+  "camera_id": "ego",
+  "sample_type": "video",
+  "num_frames": 300,
+  "hand_slots": [
+    "left",
+    "right"
+  ],
+  "sampling": {
+    "type": "dense",
+    "source_fps": null,
+    "frames_ref": "camera/frames.jsonl",
+    "selection": {
+      "max_frames": null,
+      "source_sequence": "ZY20210800003/H3/C11/N47/S151/s01/T1"
+    }
+  },
+  "camera": {
+    "model": "pinhole",
+    "schema_id": "camera/pinhole/v1",
+    "image_size": [
+      1920,
+      1080
+    ]
+  },
+  "components": {
+    "rgb": {
+      "available": true,
+      "schema_id": "rgb/uint8/v1",
+      "data_ref": "observation/rgb.mkv",
+      "axes": [
+        "T",
+        "height",
+        "width",
+        "channel"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Verified source packet copy or lossless fixed-decoder RGB encoding"
+      },
+      "source_locator": {
+        "file": "/data0/xuzhefeng/Datasets/HOI4D/raw/data/HOI4D_release.zip",
+        "member": "HOI4D_release/ZY20210800003/H3/C11/N47/S151/s01/T1/align_rgb/image.mp4"
+      },
+      "storage": {
+        "profile": "mkv/source_copy/v1",
+        "codec": "h264",
+        "pixel_format": "yuv420p",
+        "encoded_size": [
+          1920,
+          1080
+        ],
+        "decoder": {
+          "name": "ffmpeg",
+          "version": "ffmpeg version 6.1.1-3ubuntu5 Copyright (c) 2000-2023 the FFmpeg developers",
+          "autorotate": false,
+          "color_space": "unknown",
+          "color_range": "unknown",
+          "color_primaries": "unknown",
+          "color_transfer": "unknown"
+        },
+        "encoder_parameters": {
+          "version": "ffmpeg version 6.1.1-3ubuntu5 Copyright (c) 2000-2023 the FFmpeg developers",
+          "stream_copy": true,
+          "keyframe_indices": [
+            0,
+            108,
+            249
+          ]
+        },
+        "source_lossy": "unknown",
+        "storage_fps": "15/1",
+        "timebase_role": "index_only",
+        "preserve_source_pts": true
+      },
+      "valid_ref": "observation/rgb_valid.pt",
+      "valid_axes": [
+        "T"
+      ]
+    },
+    "intrinsic": {
+      "available": true,
+      "schema_id": "camera/pinhole/v1",
+      "data_ref": "camera/camera.pt",
+      "axes": [
+        "T",
+        "row",
+        "column"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "file": "/data0/xuzhefeng/Datasets/HOI4D/raw/data/camera_params.zip",
+        "member": "camera_params/ZY20210800003/intrin.npy"
+      },
+      "valid_ref": "camera/camera.pt",
+      "valid_axes": [
+        "T"
+      ],
+      "data_key": [
+        "intrinsic",
+        "data"
+      ],
+      "valid_key": [
+        "intrinsic",
+        "valid"
+      ],
+      "storage": {
+        "profile": "pt/tensor_bundle/v1"
+      },
+      "valid_storage": {
+        "profile": "pt/tensor_bundle/v1"
+      }
+    },
+    "extrinsic": {
+      "available": true,
+      "schema_id": "transform/se3/v1",
+      "data_ref": "camera/camera.pt",
+      "axes": [
+        "T",
+        "row",
+        "column"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "file": "/data0/xuzhefeng/Datasets/HOI4D/raw/data/HOI4D_annotations.zip",
+        "member": "HOI4D_annotations/ZY20210800003/H3/C11/N47/S151/s01/T1/3Dseg/output.log"
+      },
+      "valid_ref": "camera/camera.pt",
+      "valid_axes": [
+        "T"
+      ],
+      "convention": "T_camera_from_world",
+      "source_convention": "Open3D LOG camera-to-world; inverted",
+      "data_key": [
+        "extrinsic",
+        "data"
+      ],
+      "valid_key": [
+        "extrinsic",
+        "valid"
+      ],
+      "storage": {
+        "profile": "pt/tensor_bundle/v1"
+      },
+      "valid_storage": {
+        "profile": "pt/tensor_bundle/v1"
+      }
+    },
+    "segment": {
+      "available": true,
+      "schema_id": "segment/uint16_labels/v1",
+      "data_ref": "annotation/segment/mask.mkv",
+      "axes": [
+        "T",
+        "height",
+        "width"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "frames_ref": "camera/frames.jsonl",
+        "source_field": "component_sources"
+      },
+      "storage": {
+        "profile": "mkv/uint16_ffv1/v1",
+        "codec": "ffv1",
+        "pixel_format": "gray16le",
+        "encoded_size": [
+          1920,
+          1080
+        ],
+        "decoder": {
+          "name": "ffmpeg",
+          "version": "ffmpeg version 6.1.1-3ubuntu5 Copyright (c) 2000-2023 the FFmpeg developers",
+          "autorotate": false,
+          "color_space": "unknown",
+          "color_range": "unknown",
+          "color_primaries": "unknown",
+          "color_transfer": "unknown"
+        },
+        "encoder_parameters": {
+          "version": "ffmpeg version 6.1.1-3ubuntu5 Copyright (c) 2000-2023 the FFmpeg developers",
+          "name": "ffv1",
+          "arguments": [],
+          "threads": 2
+        },
+        "source_lossy": false,
+        "storage_fps": 30,
+        "timebase_role": "index_only"
+      },
+      "valid_ref": "annotation/segment/mask_valid.pt",
+      "valid_axes": [
+        "T"
+      ],
+      "segmentation_type": "part",
+      "mapping_ref": "annotation/segment/instances.jsonl",
+      "coverage": {
+        "kind": "unknown"
+      },
+      "valid_policy": {
+        "revision": "usable-annotation-2026-09-20",
+        "meaning": "annotation usable for supervision, not merely record presence",
+        "source_rule": "Source mask or shift_mask present with verified palette codes and entity/part mapping",
+        "source_locator": {
+          "frames_ref": "camera/frames.jsonl",
+          "source_field": "component_sources"
+        },
+        "scope": [
+          "T"
+        ],
+        "numerical_checks": "Schema shape, finite valid floats, SE(3) where applicable; malformed input aborts",
+        "official_qa": {
+          "status": "not_provided",
+          "reason": "No separate applicable official QA in selected source inputs"
+        },
+        "local_excluded_frame_indices": [],
+        "local_exclusion_reasons": {},
+        "visibility_independent": true
+      }
+    },
+    "pose_main_pose_Pliersright": {
+      "available": true,
+      "schema_id": "transform/se3/v1",
+      "data_ref": "annotation/object/main/object.pt",
+      "axes": [
+        "T",
+        "row",
+        "column"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "frames_ref": "camera/frames.jsonl",
+        "source_field": "component_sources"
+      },
+      "valid_ref": "annotation/object/main/object.pt",
+      "valid_axes": [
+        "T"
+      ],
+      "convention": "T_camera_from_part",
+      "unit": "m",
+      "source_label": "Pliersright",
+      "source_euler_order": "XYZ",
+      "definition": "https://github.com/hoi4d/ObjTracking/blob/main/process_data.py",
+      "valid_policy": {
+        "revision": "usable-annotation-2026-09-20",
+        "meaning": "annotation usable for supervision, not merely record presence",
+        "source_rule": "Matched source object record contains rotation and center; record identity retained",
+        "source_locator": {
+          "frames_ref": "camera/frames.jsonl",
+          "source_field": "component_sources"
+        },
+        "scope": [
+          "T"
+        ],
+        "numerical_checks": "Schema shape, finite valid floats, SE(3) where applicable; malformed input aborts",
+        "official_qa": {
+          "status": "not_provided",
+          "reason": "No separate applicable official QA in selected source inputs"
+        },
+        "local_excluded_frame_indices": [],
+        "local_exclusion_reasons": {},
+        "visibility_independent": true
+      },
+      "data_key": [
+        "parts",
+        "pose_Pliersright",
+        "pose",
+        "data"
+      ],
+      "valid_key": [
+        "parts",
+        "pose_Pliersright",
+        "pose",
+        "valid"
+      ],
+      "storage": {
+        "profile": "pt/tensor_bundle/v1"
+      },
+      "valid_storage": {
+        "profile": "pt/tensor_bundle/v1"
+      }
+    },
+    "dimensions_main_pose_Pliersright": {
+      "available": true,
+      "schema_id": "object/dimensions/v1",
+      "data_ref": "annotation/object/main/object.pt",
+      "axes": [
+        "T",
+        "dimension"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "frames_ref": "camera/frames.jsonl",
+        "source_field": "component_sources"
+      },
+      "valid_ref": "annotation/object/main/object.pt",
+      "valid_axes": [
+        "T"
+      ],
+      "dimensions_semantics": "source_unspecified",
+      "unit": "m",
+      "scale_applied_to_mesh": false,
+      "valid_policy": {
+        "revision": "usable-annotation-2026-09-20",
+        "meaning": "annotation usable for supervision, not merely record presence",
+        "source_rule": "Matched source object record contains dimensions; size/mesh relation remains source_unspecified",
+        "source_locator": {
+          "frames_ref": "camera/frames.jsonl",
+          "source_field": "component_sources"
+        },
+        "scope": [
+          "T"
+        ],
+        "numerical_checks": "Schema shape, finite valid floats, SE(3) where applicable; malformed input aborts",
+        "official_qa": {
+          "status": "not_provided",
+          "reason": "No separate applicable official QA in selected source inputs"
+        },
+        "local_excluded_frame_indices": [],
+        "local_exclusion_reasons": {},
+        "visibility_independent": true
+      },
+      "data_key": [
+        "parts",
+        "pose_Pliersright",
+        "dimensions",
+        "data"
+      ],
+      "valid_key": [
+        "parts",
+        "pose_Pliersright",
+        "dimensions",
+        "valid"
+      ],
+      "storage": {
+        "profile": "pt/tensor_bundle/v1"
+      },
+      "valid_storage": {
+        "profile": "pt/tensor_bundle/v1"
+      }
+    },
+    "pose_main_pose_Pliersleft": {
+      "available": true,
+      "schema_id": "transform/se3/v1",
+      "data_ref": "annotation/object/main/object.pt",
+      "axes": [
+        "T",
+        "row",
+        "column"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "frames_ref": "camera/frames.jsonl",
+        "source_field": "component_sources"
+      },
+      "valid_ref": "annotation/object/main/object.pt",
+      "valid_axes": [
+        "T"
+      ],
+      "convention": "T_camera_from_part",
+      "unit": "m",
+      "source_label": "Pliersleft",
+      "source_euler_order": "XYZ",
+      "definition": "https://github.com/hoi4d/ObjTracking/blob/main/process_data.py",
+      "valid_policy": {
+        "revision": "usable-annotation-2026-09-20",
+        "meaning": "annotation usable for supervision, not merely record presence",
+        "source_rule": "Matched source object record contains rotation and center; record identity retained",
+        "source_locator": {
+          "frames_ref": "camera/frames.jsonl",
+          "source_field": "component_sources"
+        },
+        "scope": [
+          "T"
+        ],
+        "numerical_checks": "Schema shape, finite valid floats, SE(3) where applicable; malformed input aborts",
+        "official_qa": {
+          "status": "not_provided",
+          "reason": "No separate applicable official QA in selected source inputs"
+        },
+        "local_excluded_frame_indices": [],
+        "local_exclusion_reasons": {},
+        "visibility_independent": true
+      },
+      "data_key": [
+        "parts",
+        "pose_Pliersleft",
+        "pose",
+        "data"
+      ],
+      "valid_key": [
+        "parts",
+        "pose_Pliersleft",
+        "pose",
+        "valid"
+      ],
+      "storage": {
+        "profile": "pt/tensor_bundle/v1"
+      },
+      "valid_storage": {
+        "profile": "pt/tensor_bundle/v1"
+      }
+    },
+    "dimensions_main_pose_Pliersleft": {
+      "available": true,
+      "schema_id": "object/dimensions/v1",
+      "data_ref": "annotation/object/main/object.pt",
+      "axes": [
+        "T",
+        "dimension"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "frames_ref": "camera/frames.jsonl",
+        "source_field": "component_sources"
+      },
+      "valid_ref": "annotation/object/main/object.pt",
+      "valid_axes": [
+        "T"
+      ],
+      "dimensions_semantics": "source_unspecified",
+      "unit": "m",
+      "scale_applied_to_mesh": false,
+      "valid_policy": {
+        "revision": "usable-annotation-2026-09-20",
+        "meaning": "annotation usable for supervision, not merely record presence",
+        "source_rule": "Matched source object record contains dimensions; size/mesh relation remains source_unspecified",
+        "source_locator": {
+          "frames_ref": "camera/frames.jsonl",
+          "source_field": "component_sources"
+        },
+        "scope": [
+          "T"
+        ],
+        "numerical_checks": "Schema shape, finite valid floats, SE(3) where applicable; malformed input aborts",
+        "official_qa": {
+          "status": "not_provided",
+          "reason": "No separate applicable official QA in selected source inputs"
+        },
+        "local_excluded_frame_indices": [],
+        "local_exclusion_reasons": {},
+        "visibility_independent": true
+      },
+      "data_key": [
+        "parts",
+        "pose_Pliersleft",
+        "dimensions",
+        "data"
+      ],
+      "valid_key": [
+        "parts",
+        "pose_Pliersleft",
+        "dimensions",
+        "valid"
+      ],
+      "storage": {
+        "profile": "pt/tensor_bundle/v1"
+      },
+      "valid_storage": {
+        "profile": "pt/tensor_bundle/v1"
+      }
+    },
+    "mesh_main_objs_new_1_obj": {
+      "available": true,
+      "schema_id": "mesh/obj/v1",
+      "data_ref": "annotation/object/main/assets/objs/new-1.obj",
+      "axes": [
+        "vertex"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "file": "/data0/xuzhefeng/Datasets/HOI4D/raw/data/HOI4D_CAD_Model_for_release.zip",
+        "member": "HOI4D_CAD_Model_for_release/articulated/Pliers/047/objs/new-1.obj"
+      },
+      "unit": "m",
+      "valid": true,
+      "scale_applied_to_mesh": false,
+      "dimensions_semantics": "source_unspecified"
+    },
+    "mesh_main_objs_new_0_align_obj": {
+      "available": true,
+      "schema_id": "mesh/obj/v1",
+      "data_ref": "annotation/object/main/assets/objs/new-0-align.obj",
+      "axes": [
+        "vertex"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "file": "/data0/xuzhefeng/Datasets/HOI4D/raw/data/HOI4D_CAD_Model_for_release.zip",
+        "member": "HOI4D_CAD_Model_for_release/articulated/Pliers/047/objs/new-0-align.obj"
+      },
+      "unit": "m",
+      "valid": true,
+      "scale_applied_to_mesh": false,
+      "dimensions_semantics": "source_unspecified"
+    },
+    "mesh_main_objs_new_1_align_obj": {
+      "available": true,
+      "schema_id": "mesh/obj/v1",
+      "data_ref": "annotation/object/main/assets/objs/new-1-align.obj",
+      "axes": [
+        "vertex"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "file": "/data0/xuzhefeng/Datasets/HOI4D/raw/data/HOI4D_CAD_Model_for_release.zip",
+        "member": "HOI4D_CAD_Model_for_release/articulated/Pliers/047/objs/new-1-align.obj"
+      },
+      "unit": "m",
+      "valid": true,
+      "scale_applied_to_mesh": false,
+      "dimensions_semantics": "source_unspecified"
+    },
+    "mesh_main_objs_new_0_obj": {
+      "available": true,
+      "schema_id": "mesh/obj/v1",
+      "data_ref": "annotation/object/main/assets/objs/new-0.obj",
+      "axes": [
+        "vertex"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "file": "/data0/xuzhefeng/Datasets/HOI4D/raw/data/HOI4D_CAD_Model_for_release.zip",
+        "member": "HOI4D_CAD_Model_for_release/articulated/Pliers/047/objs/new-0.obj"
+      },
+      "unit": "m",
+      "valid": true,
+      "scale_applied_to_mesh": false,
+      "dimensions_semantics": "source_unspecified"
+    },
+    "articulation_main": {
+      "available": true,
+      "schema_id": "object/articulated/v1",
+      "data_ref": "annotation/object/main/articulation.json",
+      "axes": [],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "frames_ref": "camera/frames.jsonl",
+        "source_field": "component_sources"
+      }
+    },
+    "depth": {
+      "available": true,
+      "schema_id": "depth/z_float32/v1",
+      "data_ref": "observation/depth.mkv",
+      "axes": [
+        "T",
+        "height",
+        "width"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "files": [
+          "/data0/xuzhefeng/Datasets/HOI4D/raw/data/DEPTH/HOI4D_depth_video.tar.gz0",
+          "/data0/xuzhefeng/Datasets/HOI4D/raw/data/DEPTH/HOI4D_depth_video.tar.gz1",
+          "/data0/xuzhefeng/Datasets/HOI4D/raw/data/DEPTH/HOI4D_depth_video.tar.gz2",
+          "/data0/xuzhefeng/Datasets/HOI4D/raw/data/DEPTH/HOI4D_depth_video.tar.gz3",
+          "/data0/xuzhefeng/Datasets/HOI4D/raw/data/DEPTH/HOI4D_depth_video.tar.gz4",
+          "/data0/xuzhefeng/Datasets/HOI4D/raw/data/DEPTH/HOI4D_depth_video.tar.gz5",
+          "/data0/xuzhefeng/Datasets/HOI4D/raw/data/DEPTH/HOI4D_depth_video.tar.gz6"
+        ],
+        "member": "HOI4D_depth_video/ZY20210800003/H3/C11/N47/S151/s01/T1/align_depth/depth_video.avi",
+        "conversion": "registered millimetre camera-Z to metres"
+      },
+      "storage": {
+        "profile": "mkv/depth_float32_bits/v1",
+        "codec": "ffv1",
+        "pixel_format": "gray16le",
+        "encoded_size": [
+          3840,
+          1080
+        ],
+        "decoder": {
+          "name": "ffmpeg",
+          "version": "ffmpeg version 6.1.1-3ubuntu5 Copyright (c) 2000-2023 the FFmpeg developers",
+          "autorotate": false,
+          "color_space": "unknown",
+          "color_range": "unknown",
+          "color_primaries": "unknown",
+          "color_transfer": "unknown"
+        },
+        "encoder_parameters": {
+          "version": "ffmpeg version 6.1.1-3ubuntu5 Copyright (c) 2000-2023 the FFmpeg developers",
+          "name": "ffv1",
+          "arguments": [],
+          "threads": 2
+        },
+        "source_lossy": false,
+        "storage_fps": 30,
+        "timebase_role": "index_only"
+      },
+      "valid_storage": {
+        "profile": "mkv/bool_ffv1/v1",
+        "codec": "ffv1",
+        "pixel_format": "gray",
+        "encoded_size": [
+          1920,
+          1080
+        ],
+        "decoder": {
+          "name": "ffmpeg",
+          "version": "ffmpeg version 6.1.1-3ubuntu5 Copyright (c) 2000-2023 the FFmpeg developers",
+          "autorotate": false,
+          "color_space": "unknown",
+          "color_range": "unknown",
+          "color_primaries": "unknown",
+          "color_transfer": "unknown"
+        },
+        "encoder_parameters": {
+          "version": "ffmpeg version 6.1.1-3ubuntu5 Copyright (c) 2000-2023 the FFmpeg developers",
+          "name": "ffv1",
+          "arguments": [],
+          "threads": 2
+        },
+        "source_lossy": false,
+        "storage_fps": 30,
+        "timebase_role": "index_only"
+      },
+      "valid_ref": "observation/depth_valid.mkv",
+      "valid_axes": [
+        "T",
+        "height",
+        "width"
+      ],
+      "unit": "m",
+      "depth_type": "z",
+      "depth_origin": "measured",
+      "invalid_value": "NaN"
+    }
+  },
+  "split": "unknown",
+  "view_type": "ego",
+  "split_reason": "No verified official split mapping available for this sequence"
+}

HOI4D/shared-v1.1/data/ZY20210800003_H3_C11_N47_S151_s01_T1/ego/observation/depth.mkv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8b34ccace08d216992432c5d9d4f60975bab6e0a536a982b4abc5126ae1921a8
+size 135466133

HOI4D/shared-v1.1/data/ZY20210800003_H3_C11_N47_S151_s01_T1/ego/observation/depth_valid.mkv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5b05f4614e3680663c93787edcab07253db803779999824ef8575add21d85261
+size 844663

HOI4D/shared-v1.1/data/ZY20210800003_H3_C11_N47_S151_s01_T1/ego/observation/rgb.mkv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e828609a5098f88f891df77866bb47ebe78ab778381a68327e4309975b61756
+size 4408899

HOI4D/shared-v1.1/data/ZY20210800003_H3_C11_N47_S151_s01_T1/ego/observation/rgb_valid.pt

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

HOI4D/shared-v1.1/data/ZY20210800003_H3_C11_N47_S182_s01_T4/ego/annotation/object/main/articulation.json

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

HOI4D/shared-v1.1/data/ZY20210800003_H3_C11_N47_S182_s01_T4/ego/annotation/object/main/assets/meta.json

@@ -0,0 +1 @@
+{"user_id": "leoly", "model_cat": "Pliers", "model_id": "pliers047", "version": "1", "anno_id": "263", "time_in_sec": "36"}

HOI4D/shared-v1.1/data/ZY20210800003_H3_C11_N47_S182_s01_T4/ego/annotation/object/main/assets/mobility_v2.json

@@ -0,0 +1 @@
+[{"id": 0, "parent": 1, "joint": "铰链（旋转）", "name": "left blade", "parts": [{"id": 1, "name": "left blade", "children": []}], "jointData": {"axis": {"origin": [0.031210372751113085, -0.02080032112291662, 0], "direction": [0, 0, 1]}, "limit": {"a": 18, "b": 0, "noLimit": false}}}, {"id": 1, "parent": -1, "joint": "自由", "name": "right blade", "parts": [{"id": 2, "name": "right blade", "children": []}], "jointData": {}}]