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@@ -13151,3 +13151,57 @@ official_data/umi_data/batch2/fold_clothes_e05347/videos/observation.audio.right
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official_data/umi_data/batch2/fold_clothes_e00057/annotation/grounding_000000.jsonl

@@ -0,0 +1,3 @@
+{"frame_index": 19, "t_s": 0.63, "side": "right", "task": "fold the green long sleeve", "step": "fold the green long sleeve", "next_step": "", "next_action": "retract the gripper to finish the task", "boxes": [{"label": "绿色长袖", "box_2d": [300, 522, 575, 918]}, {"label": "gripper", "box_2d": [502, 231, 985, 775]}], "points": [], "segment": 7, "anchor": "release"}
+{"frame_index": 1258, "t_s": 41.93, "side": "left", "task": "fold the green long sleeve", "step": "fold the green long sleeve", "next_step": "", "next_action": "withdraw the gripper to clear the workspace", "boxes": [{"label": "绿色长袖", "box_2d": [252, 383, 511, 701]}, {"label": "gripper", "box_2d": [504, 230, 981, 769]}], "points": [{"label": "gripper", "point": [600, 497], "arrow_to": [850, 497], "note": "withdraw the gripper"}], "segment": 7, "anchor": "grasp"}
+{"frame_index": 1258, "t_s": 41.93, "side": "right", "task": "fold the green long sleeve", "step": "fold the green long sleeve", "next_step": "", "next_action": "place the green long sleeve on the stack and release it", "boxes": [{"label": "gripper", "box_2d": [502, 230, 991, 774]}, {"label": "绿色长袖", "box_2d": [237, 410, 588, 560]}], "points": [{"label": "place point", "point": [588, 485], "arrow_to": [400, 380], "note": "place the green long sleeve onto the stack"}], "segment": 7, "anchor": "grasp"}

official_data/umi_data/batch2/fold_clothes_e00057/annotation/subtasks_000000.jsonl

@@ -0,0 +1 @@
+{"start_frame_index": 0, "end_frame_index": 1280, "instruction": "fold the green long sleeve", "instruction_zh": "fold the green long sleeve", "target_objects": ["绿色长袖"], "success": null}

official_data/umi_data/batch2/fold_clothes_e00057/data/chunk-000/file-000.parquet

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official_data/umi_data/batch2/fold_clothes_e00057/export_meta.json

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

official_data/umi_data/batch2/fold_clothes_e00057/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": "2026-08-30T19:07:49+0800"
+}

official_data/umi_data/batch2/fold_clothes_e00057/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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+   },
+   "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": {
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+    "insv_stream": 0,
+    "lens": "front",
+    "native_size": [
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+     1920
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+     960
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+   },
+   "lenses": {
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