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official_data/umi_data/batch2/fold_clothes_e00096/annotation/subtasks_000000.jsonl

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+{"start_frame_index": 0, "end_frame_index": 286, "instruction": "flatten the black t-shirt", "instruction_zh": "flatten the black t-shirt", "target_objects": ["黑色短袖"], "success": null}

official_data/umi_data/batch2/fold_clothes_e00096/data/chunk-000/file-000.parquet

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official_data/umi_data/batch2/fold_clothes_e00096/export_meta.json

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+{
+ "state_names": [
+  "left_x",
+  "left_y",
+  "left_z",
+  "left_qw",
+  "left_qx",
+  "left_qy",
+  "left_qz",
+  "left_gripper",
+  "right_x",
+  "right_y",
+  "right_z",
+  "right_qw",
+  "right_qx",
+  "right_qy",
+  "right_qz",
+  "right_gripper"
+ ],
+ "action_names": [
+  "left_x",
+  "left_y",
+  "left_z",
+  "left_qw",
+  "left_qx",
+  "left_qy",
+  "left_qz",
+  "left_gripper",
+  "right_x",
+  "right_y",
+  "right_z",
+  "right_qw",
+  "right_qx",
+  "right_qy",
+  "right_qz",
+  "right_gripper"
+ ],
+ "fps": 30.0,
+ "img_size": 960,
+ "n_episodes": 1,
+ "episodes": []
+}

official_data/umi_data/batch2/fold_clothes_e00096/meta/annotation.json

@@ -0,0 +1,14 @@
+{
+ "schema_version": 2,
+ "layers": {
+  "subtasks": {
+   "source": "human",
+   "review": "approved",
+   "segments_version": "1786a96617489005"
+  }
+ },
+ "dropped_layers": [
+  "action_steps"
+ ],
+ "created_at": "2026-08-30T11:48:49+0000"
+}

official_data/umi_data/batch2/fold_clothes_e00096/meta/calibration.json

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+{
+ "note": "Per-body camera + IMU calibration. Intrinsics come from each body's own .insv factory telemetry; see provenance per side.",
+ "sides": {
+  "left": {
+   "ego_video": {
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+   },
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+    "camera_intrinsics": "insv_factory (per-body, from this body's own telemetry)",
+    "kalibr_refined": false,
+    "pose_frame": "cubemap front virtual pinhole, 110 deg FoV / tilt 70 / 640 px",
+    "pose_frame_note": "state/action poses (T_w_cam) live in this virtual pinhole frame, NOT the fisheye frame of the delivered video. When the body has no Kalibr EUCM calibration the LUT is borrowed from another body \u2014 see cam_imu_used_by_cook.source."
+   }
+  },
+  "right": {
+   "ego_video": {
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+    "insv_stream": 0,
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+     1920
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+     960
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+   },
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+ }
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