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