# MANUS-DexYCB Processing Pipeline

The release is constructed from the local DexYCB source directory in read-only mode.

1. Use `DexYCB_test_OG_image_paths.txt` as the canonical sample list.
2. Map each OG image id to aligned depth, hand crop, hand-depth crop, bbox, mesh vertices, six-view mesh renderings, and projection-view files by deterministic filename rules.
3. Filter all modalities to the canonical OG image ids.
4. Package the aligned files into uncompressed WebDataset tar shards under `data/dexycb/test/`.
5. Write public manifests without local absolute source paths.
6. Write checksums for all release files.

The source dataset directory is not modified by this pipeline.