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@@ -14016,3 +14016,57 @@ official_data/umi_data/batch2/fold_clothes_e03212/videos/observation.audio.right
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official_data/umi_data/batch2/fold_clothes_e00051/annotation/grounding_000000.jsonl

@@ -0,0 +1,2 @@
+{"frame_index": 872, "t_s": 29.07, "side": "right", "task": "fold the brown long sleeve", "step": "fold the brown long sleeve", "next_step": "", "next_action": "release the brown long sleeve and move the gripper away", "boxes": [{"label": "棕色长袖", "box_2d": [178, 335, 575, 685]}, {"label": "gripper", "box_2d": [500, 230, 985, 770]}], "points": [{"label": "gripper", "point": [700, 500], "arrow_to": [850, 500], "note": "move the gripper away from the brown long sleeve"}], "segment": 1, "anchor": "grasp"}
+{"frame_index": 1916, "t_s": 63.87, "side": "left", "task": "fold the brown long sleeve", "step": "fold the brown long sleeve", "next_step": "", "next_action": "retract the gripper to finish the task", "boxes": [{"label": "棕色长袖", "box_2d": [245, 298, 581, 662]}, {"label": "gripper", "box_2d": [503, 225, 988, 771]}], "points": [{"label": "retract gripper", "point": [750, 500], "arrow_to": [950, 500], "note": "move the gripper away from the folded garment"}], "segment": 1, "anchor": "grasp"}

official_data/umi_data/batch2/fold_clothes_e00051/annotation/subtasks_000000.jsonl

@@ -0,0 +1 @@
+{"start_frame_index": 0, "end_frame_index": 1967, "instruction": "fold the brown long sleeve", "instruction_zh": "fold the brown long sleeve", "target_objects": ["棕色长袖"], "success": null}

official_data/umi_data/batch2/fold_clothes_e00051/data/chunk-000/file-000.parquet

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official_data/umi_data/batch2/fold_clothes_e00051/export_meta.json

@@ -0,0 +1,42 @@
+{
+ "fps": 30.0,
+ "img_size": 960,
+ "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"
+ ],
+ "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"
+ ],
+ "n_episodes": 1,
+ "episodes": []
+}

official_data/umi_data/batch2/fold_clothes_e00051/meta/annotation.json

@@ -0,0 +1,17 @@
+{
+ "schema_version": 2,
+ "layers": {
+  "subtasks": {
+   "source": "human",
+   "review": "approved",
+   "segments_version": "3f3f7bab87910fd8"
+  },
+  "grounding": {
+   "source": "gemini-robotics-er-1.6-preview"
+  }
+ },
+ "dropped_layers": [
+  "action_steps"
+ ],
+ "created_at": "2026-08-30T19:07:27+0800"
+}

official_data/umi_data/batch2/fold_clothes_e00051/meta/calibration.json

@@ -0,0 +1,333 @@
+{
+ "note": "Per-body camera + IMU calibration. Intrinsics come from each body's own .insv factory telemetry; see provenance per side.",
+ "sides": {
+  "left": {
+   "ego_video": {
+    "source": "fisheye.mp4",
+    "insv_stream": 0,
+    "lens": "front",
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+    "source": "Tic=factory-insv-Euler (lever from REDACTED); gravity=static; bias=factory"
+   },
+   "provenance": {
+    "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": {
+    "source": "fisheye.mp4",
+    "insv_stream": 0,
+    "lens": "front",
+    "native_size": [
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+     1920
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+    "dataset_size": [
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+     960
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+    "accel_convention": "imu_raw.csv is standard specific force (a ~ -g_body at rest) and is NOT negated; gravity = -(gravity_vector_camera_frame). See docs/46"
+   },
+   "lenses": {
+    "front": {
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+ }
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