Add files using upload-large-folder tool

.gitattributes

@@ -14316,3 +14316,31 @@ official_data/umi_data/batch2/fold_clothes_e06163/videos/observation.audio.right
 official_data/umi_data/batch2/fold_clothes_e06163/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
 official_data/umi_data/batch2/fold_clothes_e04600/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
 official_data/umi_data/batch2/fold_clothes_e04600/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e02773/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e02773/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e01317/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e01317/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e01711/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e01711/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e07554/imu/episode_0000_right.csv filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e07554/imu/episode_0000_left.csv filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e07554/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e07554/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e02572/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e02572/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e06860/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e06860/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e00778/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e00778/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e06105/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e06105/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e08650/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e08650/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e00830/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e00830/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e08429/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e08429/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e00691/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e00691/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e04508/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
+official_data/umi_data/batch2/fold_clothes_e04508/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text

official_data/umi_data/batch2/fold_clothes_e00564/annotation/subtasks_000000.jsonl

@@ -0,0 +1 @@
+{"start_frame_index": 0, "end_frame_index": 802, "instruction": "fold the black pants", "instruction_zh": "fold the black pants", "target_objects": ["黑色长裤"], "success": null}

official_data/umi_data/batch2/fold_clothes_e00564/data/chunk-000/file-000.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:86fe51e7f03771e600c167ab4ac5e954de15dc2ee024669f19307c49d292dd12
+size 162102

official_data/umi_data/batch2/fold_clothes_e00564/export_meta.json

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

official_data/umi_data/batch2/fold_clothes_e00564/imu/episode_0000_left.csv

@@ -0,0 +1 @@
+t_s,gx_rad_s,gy_rad_s,gz_rad_s,ax_m_s2,ay_m_s2,az_m_s2

official_data/umi_data/batch2/fold_clothes_e00564/imu/episode_0000_right.csv

@@ -0,0 +1 @@
+t_s,gx_rad_s,gy_rad_s,gz_rad_s,ax_m_s2,ay_m_s2,az_m_s2

official_data/umi_data/batch2/fold_clothes_e00564/meta/annotation.json

@@ -0,0 +1,14 @@
+{
+ "schema_version": 2,
+ "layers": {
+  "subtasks": {
+   "source": "human",
+   "review": "approved",
+   "segments_version": "2e2785584c28e626"
+  }
+ },
+ "dropped_layers": [
+  "action_steps"
+ ],
+ "created_at": "2026-08-30T11:53:51+0000"
+}

official_data/umi_data/batch2/fold_clothes_e00564/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",
+    "native_size": [
+     1920,
+     1920
+    ],
+    "dataset_size": [
+     960,
+     960
+    ]
+   },
+   "rolling_shutter_ms": 15.845431327819824,
+   "imu": {
+    "gyro_range_dps": 2000.0,
+    "accel_range_g": 32.0,
+    "gyro_bias_rad_s": [
+     -0.002518561250610984,
+     -0.0072885972069277535,
+     0.002915579310339975
+    ],
+    "accel_bias_m_s2": [
+     0.0773645481000228,
+     -0.004034349015599402,
+     -0.017035712340228843
+    ],
+    "gravity_vector_camera_frame": [
+     -0.01673029578641069,
+     -0.4058542366912388,
+     -0.9137846769139173
+    ],
+    "gravity_magnitude_m_s2": 9.858554800820675,
+    "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": {
+     "model": "ucm_mei_radtan",
+     "canvas": [
+      15360,
+      7680
+     ],
+     "params_on_canvas": {
+      "xi": 2.31494,
+      "fx": 7122.31,
+      "fy": 7123.19,
+      "cx": 3850.16,
+      "cy": 3863.11,
+      "k1": 0.97814524,
+      "k2": -2.0472424,
+      "k3": 4.22111225,
+      "p1": -0.00088488,
+      "p2": 0.00103413
+     },
+     "params_on_native_fisheye": {
+      "xi": 2.31494,
+      "k1": 0.978145,
+      "k2": -2.047242,
+      "k3": 4.221112,
+      "p1": -0.000885,
+      "p2": 0.001034,
+      "fx": 1780.5775,
+      "fy": 1780.7975,
+      "cx": 962.54,
+      "cy": 965.7775
+     },
+     "cam_imu_factory": {
+      "yaw_deg": 0.127,
+      "pitch_deg": -0.013,
+      "roll_deg": 90.459,
+      "t_m": [
+       0.0,
+       0.0,
+       0.0
+      ]
+     },
+     "params_on_dataset_frame": {
+      "xi": 2.31494,
+      "k1": 0.978145,
+      "k2": -2.047242,
+      "k3": 4.221112,
+      "p1": -0.000885,
+      "p2": 0.001034,
+      "fx": 890.28875,
+      "fy": 890.39875,
+      "cx": 481.27,
+      "cy": 482.88875
+     }
+    },
+    "rear": {
+     "model": "ucm_mei_radtan",
+     "canvas": [
+      15360,
+      7680
+     ],
+     "params_on_canvas": {
+      "xi": 2.31494,
+      "fx": 7139.98,
+      "fy": 7138.46,
+      "cx": 11532.2,
+      "cy": 3880.38,
+      "k1": 0.96583682,
+      "k2": -2.02089548,
+      "k3": 3.96132421,
+      "p1": 0.0004576,
+      "p2": -4.547e-05
+     },
+     "params_on_native_fisheye": {
+      "xi": 2.31494,
+      "k1": 0.965837,
+      "k2": -2.020895,
+      "k3": 3.961324,
+      "p1": 0.000458,
+      "p2": -4.5e-05,
+      "fx": 1784.995,
+      "fy": 1784.615,
+      "cx": 963.05,
+      "cy": 970.095
+     },
+     "cam_imu_factory": {
+      "yaw_deg": -0.036,
+      "pitch_deg": -0.079,
+      "roll_deg": 89.418,
+      "t_m": [
+       0.00087,
+       5.8e-05,
+       -0.032965
+      ]
+     }
+    }
+   },
+   "cam_imu_used_by_cook": {
+    "R_cam_imu": [
+     [
+      0.00022689280081250986,
+      0.002216566277914145,
+      0.9999975176737157
+     ],
+     [
+      0.9999678858809576,
+      -0.00801145880629961,
+      -0.0002091281040473422
+     ],
+     [
+      0.008010975372941598,
+      0.999965451084052,
+      -0.002218312837167985
+     ]
+    ],
+    "t_cam_imu_m": [
+     0.004100510626148365,
+     -0.001160295357225906,
+     -0.025483155366164204
+    ],
+    "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": [
+     1920,
+     1920
+    ],
+    "dataset_size": [
+     960,
+     960
+    ]
+   },
+   "rolling_shutter_ms": 15.845431327819824,
+   "imu": {
+    "gyro_range_dps": 2000.0,
+    "accel_range_g": 32.0,
+    "gyro_bias_rad_s": [
+     -0.00297445326267163,
+     -0.009171064165059414,
+     0.0024493848553018027
+    ],
+    "accel_bias_m_s2": [
+     -0.06988166549143597,
+     -0.07039936214310165,
+     -0.03179497198720088
+    ],
+    "gravity_vector_camera_frame": [
+     -0.12416750084879165,
+     -0.39050199713611405,
+     -0.9121900141777876
+    ],
+    "gravity_magnitude_m_s2": 9.855825830058684,
+    "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": {
+     "model": "ucm_mei_radtan",
+     "canvas": [
+      15360,
+      7680
+     ],
+     "params_on_canvas": {
+      "xi": 2.31494,
+      "fx": 7113.44,
+      "fy": 7113.27,
+      "cx": 3855.56,
+      "cy": 3867.51,
+      "k1": 0.95333248,
+      "k2": -1.92126703,
+      "k3": 3.97410965,
+      "p1": 0.00022263,
+      "p2": -4.58e-05
+     },
+     "params_on_native_fisheye": {
+      "xi": 2.31494,
+      "k1": 0.953332,
+      "k2": -1.921267,
+      "k3": 3.97411,
+      "p1": 0.000223,
+      "p2": -4.6e-05,
+      "fx": 1778.36,
+      "fy": 1778.3175,
+      "cx": 963.89,
+      "cy": 966.8775
+     },
+     "cam_imu_factory": {
+      "yaw_deg": 0.025,
+      "pitch_deg": 0.019,
+      "roll_deg": 90.491,
+      "t_m": [
+       0.0,
+       0.0,
+       0.0
+      ]
+     },
+     "params_on_dataset_frame": {
+      "xi": 2.31494,
+      "k1": 0.953332,
+      "k2": -1.921267,
+      "k3": 3.97411,
+      "p1": 0.000223,
+      "p2": -4.6e-05,
+      "fx": 889.18,
+      "fy": 889.15875,
+      "cx": 481.945,
+      "cy": 483.43875
+     }
+    },
+    "rear": {
+     "model": "ucm_mei_radtan",
+     "canvas": [
+      15360,
+      7680
+     ],
+     "params_on_canvas": {
+      "xi": 2.31494,
+      "fx": 7109.51,
+      "fy": 7110.22,
+      "cx": 11504.2,
+      "cy": 3877.44,
+      "k1": 0.97504234,
+      "k2": -2.02693057,
+      "k3": 4.04262829,
+      "p1": 0.00113811,
+      "p2": -0.00057592
+     },
+     "params_on_native_fisheye": {
+      "xi": 2.31494,
+      "k1": 0.975042,
+      "k2": -2.026931,
+      "k3": 4.042628,
+      "p1": 0.001138,
+      "p2": -0.000576,
+      "fx": 1777.3775,
+      "fy": 1777.555,
+      "cx": 956.05,
+      "cy": 969.36
+     },
+     "cam_imu_factory": {
+      "yaw_deg": -0.121,
+      "pitch_deg": 0.227,
+      "roll_deg": 88.944,
+      "t_m": [
+       -0.000178,
+       -0.000385,
+       -0.033242
+      ]
+     }
+    }
+   },
+   "cam_imu_used_by_cook": {
+    "R_cam_imu": [
+     [
+      -0.0003316125518011891,
+      0.0004363322751622777,
+      0.9999998498236197
+     ],
+     [
+      0.999963226507196,
+      -0.008569316236085811,
+      0.00033533947685934697
+     ],
+     [
+      0.008569461268613798,
+      0.9999631875391175,
+      -0.00043347453687625704
+     ]
+    ],
+    "t_cam_imu_m": [
+     0.004100510626148365,
+     -0.001160295357225906,
+     -0.025483155366164204
+    ],
+    "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."
+   }
+  }
+ }
+}

official_data/umi_data/batch2/fold_clothes_e00564/meta/episodes/chunk-000/file-000.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:698501e41cc051f6af44aea5a04d3fbec230c92d49aef12be683e21ec04ac21a
+size 54410

official_data/umi_data/batch2/fold_clothes_e00564/meta/info.json

@@ -0,0 +1,147 @@
+{
+    "codebase_version": "v3.0",
+    "robot_type": "umi_bimanual_gripper",
+    "total_episodes": 1,
+    "total_frames": 802,
+    "total_tasks": 1,
+    "chunks_size": 1000,
+    "data_files_size_in_mb": 100,
+    "video_files_size_in_mb": 200,
+    "fps": 30,
+    "splits": {
+        "train": "0:1"
+    },
+    "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
+    "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
+    "features": {
+        "observation.images.left_ego": {
+            "dtype": "video",
+            "shape": [
+                960,
+                960,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 960,
+                "video.width": 960,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.right_ego": {
+            "dtype": "video",
+            "shape": [
+                960,
+                960,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 960,
+                "video.width": 960,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.state": {
+            "dtype": "float32",
+            "shape": [
+                16
+            ],
+            "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": {
+            "dtype": "float32",
+            "shape": [
+                16
+            ],
+            "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"
+            ]
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    }
+}

official_data/umi_data/batch2/fold_clothes_e00564/meta/stats.json

@@ -0,0 +1,812 @@
+{
+    "observation.state": {
+        "min": [
+            -0.9165579676628113,
+            0.4646930396556854,
+            -0.09214085340499878,
+            0.02813013270497322,
+            -0.870777428150177,
+            -0.2704022228717804,
+            -0.974702775478363,
+            -1.0299999713897705,
+            -0.8648062944412231,
+            -0.08956574648618698,
+            0.3661247491836548,
+            0.0038240214344114065,
+            -0.8704307675361633,
+            -0.9622802734375,
+            -0.6797418594360352,
+            -0.15333333611488342
+        ],
+        "max": [
+            0.35616201162338257,
+            1.3226388692855835,
+            0.6420377492904663,
+            0.7919299602508545,
+            0.8631489872932434,
+            0.564874529838562,
+            0.507178544998169,
+            25.709999084472656,
+            0.028562648221850395,
+            0.3283374011516571,
+            1.0030323266983032,
+            0.6932913064956665,
+            -0.10718830674886703,
+            0.1414126455783844,
+            0.29003050923347473,
+            44.970001220703125
+        ],
+        "mean": [
+            -0.39470863342285156,
+            0.8829832673072815,
+            0.30095553398132324,
+            0.30969834327697754,
+            -0.48611465096473694,
+            0.20039664208889008,
+            -0.6649053692817688,
+            8.045048713684082,
+            -0.443450391292572,
+            0.11101390421390533,
+            0.7036525011062622,
+            0.40042030811309814,
+            -0.6255303025245667,
+            -0.5409760475158691,
+            -0.2547895312309265,
+            8.680083274841309
+        ],
+        "std": [
+            0.2547140419483185,
+            0.1872270554304123,
+            0.15061055123806,
+            0.14804111421108246,
+            0.2452908456325531,
+            0.15167078375816345,
+            0.283608615398407,
+            6.704918384552002,
+            0.1969664990901947,
+            0.10385511070489883,
+            0.12943781912326813,
+            0.1321662962436676,
+            0.1280420422554016,
+            0.16546548902988434,
+            0.17193344235420227,
+            7.8285231590271
+        ],
+        "count": [
+            802
+        ],
+        "q01": [
+            -0.8821894288063049,
+            0.5051915383338929,
+            -0.010203583836555482,
+            0.06021278023719787,
+            -0.8402533912658692,
+            -0.23799013793468476,
+            -0.9733661276102066,
+            -1.015702953338623,
+            -0.8540822887420654,
+            -0.07560611248016358,
+            0.3945333802700043,
+            0.08835547521710396,
+            -0.8388294458389283,
+            -0.9344627821445465,
+            -0.6205818605422974,
+            -0.110421047732234
+        ],
+        "q10": [
+            -0.6930174231529236,
+            0.6731824249029159,
+            0.1338686913251877,
+            0.13478714525699614,
+            -0.7922652244567872,
+            0.012288838624954224,
+            -0.9212957859039307,
+            -0.8631423711776733,
+            -0.7000333309173584,
+            -0.030541106313467025,
+            0.5411724090576172,
+            0.2366157740354538,
+            -0.7641568660736084,
+            -0.7163333415985107,
+            -0.4514186501502991,
+            0.5063697695732117
+        ],
+        "q50": [
+            -0.4352152645587921,
+            0.8648389577865601,
+            0.2648167908191681,
+            0.2898079752922058,
+            -0.4744018316268921,
+            0.20545493066310883,
+            -0.7660539150238037,
+            6.542767524719238,
+            -0.45617935061454773,
+            0.11595901101827621,
+            0.7069976925849915,
+            0.38689208030700684,
+            -0.6445109844207764,
+            -0.5574457049369812,
+            -0.26758861541748047,
+            7.857562224070231
+        ],
+        "q90": [
+            0.009931254386901872,
+            1.2259998321533203,
+            0.5459778428077697,
+            0.5398454308509827,
+            -0.23588291406631468,
+            0.4032985627651215,
+            -0.2290793418884277,
+            18.601436996459963,
+            -0.1737318396568298,
+            0.24507436156272888,
+            0.9033944964408874,
+            0.5920223832130432,
+            -0.4764755189418793,
+            -0.38001601696014403,
+            -0.0356578230857849,
+            17.876145553588866
+        ],
+        "q99": [
+            0.3248480296134949,
+            1.312168502807617,
+            0.6367487156391144,
+            0.7454878532886505,
+            0.7934382343292237,
+            0.526448483467102,
+            0.42092714071273807,
+            24.45311149597168,
+            0.012299720048904422,
+            0.30484956204891206,
+            0.9895273590087891,
+            0.6873591387271881,
+            -0.1616868507862091,
+            0.11006331205368042,
+            0.25627856969833374,
+            31.468918533325194
+        ]
+    },
+    "action": {
+        "min": [
+            -0.9165579676628113,
+            0.4646930396556854,
+            -0.09571602195501328,
+            0.02813013270497322,
+            -0.8706596493721008,
+            -0.2704022228717804,
+            -0.974702775478363,
+            -1.0299999713897705,
+            -0.8648062944412231,
+            -0.08956574648618698,
+            0.3661247491836548,
+            0.0038240214344114065,
+            -0.8704307675361633,
+            -0.9622802734375,
+            -0.6797418594360352,
+            -0.15333333611488342
+        ],
+        "max": [
+            0.35616201162338257,
+            1.3226388692855835,
+            0.6420377492904663,
+            0.7919299602508545,
+            0.8631489872932434,
+            0.564874529838562,
+            0.5203893780708313,
+            25.709999084472656,
+            0.028562648221850395,
+            0.3283374011516571,
+            1.0030323266983032,
+            0.6932913064956665,
+            -0.10718830674886703,
+            0.1414126455783844,
+            0.29003050923347473,
+            44.970001220703125
+        ],
+        "mean": [
+            -0.3947411775588989,
+            0.8828069567680359,
+            0.300532728433609,
+            0.30956369638442993,
+            -0.4840424358844757,
+            0.19979749619960785,
+            -0.6640909910202026,
+            8.045011520385742,
+            -0.44339126348495483,
+            0.11089088022708893,
+            0.7039214968681335,
+            0.40025100111961365,
+            -0.6257546544075012,
+            -0.540824830532074,
+            -0.25468847155570984,
+            8.680241584777832
+        ],
+        "std": [
+            0.25472235679626465,
+            0.187255859375,
+            0.15124614536762238,
+            0.1480351835489273,
+            0.24902412295341492,
+            0.15224385261535645,
+            0.2860628068447113,
+            6.704968452453613,
+            0.19698695838451385,
+            0.10375458747148514,
+            0.12914520502090454,
+            0.13197527825832367,
+            0.12804076075553894,
+            0.16600099205970764,
+            0.1717681586742401,
+            7.8283562660217285
+        ],
+        "count": [
+            802
+        ],
+        "q01": [
+            -0.8821894288063049,
+            0.5051915383338929,
+            -0.011904246509075164,
+            0.06021278023719787,
+            -0.8356297993659973,
+            -0.23799013793468476,
+            -0.9733542108535767,
+            -1.0174856090545654,
+            -0.8540822887420654,
+            -0.07560611248016358,
+            0.3945333802700043,
+            0.08835547521710396,
+            -0.8388294458389283,
+            -0.9344627821445465,
+            -0.6205818605422974,
+            -0.110421047732234
+        ],
+        "q10": [
+            -0.6930174231529236,
+            0.6731824249029159,
+            0.13168919682502747,
+            0.13478714525699614,
+            -0.7922221660614014,
+            0.009783005714416504,
+            -0.9214176893234253,
+            -0.8631423711776733,
+            -0.7000333309173584,
+            -0.030541106313467025,
+            0.5415545463562011,
+            0.2366157740354538,
+            -0.7641568660736084,
+            -0.7163333415985107,
+            -0.4514186501502991,
+            0.5063697695732117
+        ],
+        "q50": [
+            -0.4352152645587921,
+            0.8632946610450745,
+            0.2647504508495331,
+            0.28973159193992615,
+            -0.47361746430397034,
+            0.20420202612876892,
+            -0.7659879326820374,
+            6.542767524719238,
+            -0.45617935061454773,
+            0.11595901101827621,
+            0.7069976925849915,
+            0.38689208030700684,
+            -0.6446636319160461,
+            -0.5574457049369812,
+            -0.26758861541748047,
+            7.857562224070231
+        ],
+        "q90": [
+            0.009931254386901872,
+            1.2259998321533203,
+            0.5459526777267456,
+            0.5398454308509827,
+            -0.2328261613845825,
+            0.4032985627651215,
+            -0.22901060581207272,
+            18.601436996459963,
+            -0.1737318396568298,
+            0.24423855543136597,
+            0.9033944964408874,
+            0.5919764081637064,
+            -0.4764755189418793,
+            -0.38001601696014403,
+            -0.0356578230857849,
+            17.876145553588866
+        ],
+        "q99": [
+            0.3248480296134949,
+            1.312168502807617,
+            0.6367229509353638,
+            0.7454878532886505,
+            0.7934428834915161,
+            0.526448483467102,
+            0.4294817852973938,
+            24.45311149597168,
+            0.012299720048904422,
+            0.30484956204891206,
+            0.9895273590087891,
+            0.6873591387271881,
+            -0.1616868507862091,
+            0.11006331205368042,
+            0.25627856969833374,
+            31.468918533325194
+        ]
+    },
+    "timestamp": {
+        "min": [
+            0.0
+        ],
+        "max": [
+            26.700000762939453
+        ],
+        "mean": [
+            13.350000381469727
+        ],
+        "std": [
+            7.717241287231445
+        ],
+        "count": [
+            802
+        ],
+        "q01": [
+            0.2617668098211288
+        ],
+        "q10": [
+            2.665727996826172
+        ],
+        "q50": [
+            13.333980560302734
+        ],
+        "q90": [
+            24.034273147583008
+        ],
+        "q99": [
+            26.438234329223633
+        ]
+    },
+    "frame_index": {
+        "min": [
+            0
+        ],
+        "max": [
+            801
+        ],
+        "mean": [
+            400.5
+        ],
+        "std": [
+            231.51727797294092
+        ],
+        "count": [
+            802
+        ],
+        "q01": [
+            7.853003999901961
+        ],
+        "q10": [
+            79.97183999991996
+        ],
+        "q50": [
+            400.0193999999999
+        ],
+        "q90": [
+            721.02816000008
+        ],
+        "q99": [
+            793.146996000098
+        ]
+    },
+    "episode_index": {
+        "min": [
+            0
+        ],
+        "max": [
+            0
+        ],
+        "mean": [
+            0.0
+        ],
+        "std": [
+            0.0
+        ],
+        "count": [
+            802
+        ],
+        "q01": [
+            3.9999999999994176e-16
+        ],
+        "q10": [
+            3.999999999999417e-15
+        ],
+        "q50": [
+            1.9999999999997088e-14
+        ],
+        "q90": [
+            3.599999999999476e-14
+        ],
+        "q99": [
+            3.9599999999994235e-14
+        ]
+    },
+    "index": {
+        "min": [
+            0
+        ],
+        "max": [
+            801
+        ],
+        "mean": [
+            400.5
+        ],
+        "std": [
+            231.51727797294092
+        ],
+        "count": [
+            802
+        ],
+        "q01": [
+            7.853003999901961
+        ],
+        "q10": [
+            79.97183999991996
+        ],
+        "q50": [
+            400.0193999999999
+        ],
+        "q90": [
+            721.02816000008
+        ],
+        "q99": [
+            793.146996000098
+        ]
+    },
+    "task_index": {
+        "min": [
+            0
+        ],
+        "max": [
+            0
+        ],
+        "mean": [
+            0.0
+        ],
+        "std": [
+            0.0
+        ],
+        "count": [
+            802
+        ],
+        "q01": [
+            3.9999999999994176e-16
+        ],
+        "q10": [
+            3.999999999999417e-15
+        ],
+        "q50": [
+            1.9999999999997088e-14
+        ],
+        "q90": [
+            3.599999999999476e-14
+        ],
+        "q99": [
+            3.9599999999994235e-14
+        ]
+    },
+    "observation.images.left_ego": {
+        "min": [
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ]
+        ],
+        "max": [
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ]
+        ],
+        "mean": [
+            [
+                [
+                    0.3546949279518798
+                ]
+            ],
+            [
+                [
+                    0.31771330270233034
+                ]
+            ],
+            [
+                [
+                    0.31320582484842285
+                ]
+            ]
+        ],
+        "std": [
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ]
+        ],
+        "count": [
+            802
+        ],
+        "q01": [
+            [
+                [
+                    0.0038049240027206205
+                ]
+            ],
+            [
+                [
+                    0.0038053982262092694
+                ]
+            ],
+            [
+                [
+                    0.0038041000751134237
+                ]
+            ]
+        ],
+        "q10": [
+            [
+                [
+                    0.003930359858785612
+                ]
+            ],
+            [
+                [
+                    0.003929669607809004
+                ]
+            ],
+            [
+                [
+                    0.003929057638598106
+                ]
+            ]
+        ],
+        "q50": [
+            [
+                [
+                    0.38035770667352414
+                ]
+            ],
+            [
+                [
+                    0.2981190425482223
+                ]
+            ],
+            [
+                [
+                    0.2704779617246776
+                ]
+            ]
+        ],
+        "q90": [
+            [
+                [
+                    0.6980682977610514
+                ]
+            ],
+            [
+                [
+                    0.6549992469690061
+                ]
+            ],
+            [
+                [
+                    0.6862719501243277
+                ]
+            ]
+        ],
+        "q99": [
+            [
+                [
+                    0.7961221057246956
+                ]
+            ],
+            [
+                [
+                    0.7764866272005616
+                ]
+            ],
+            [
+                [
+                    0.8509644888921877
+                ]
+            ]
+        ]
+    },
+    "observation.images.right_ego": {
+        "min": [
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ]
+        ],
+        "max": [
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ]
+        ],
+        "mean": [
+            [
+                [
+                    0.3746951410887625
+                ]
+            ],
+            [
+                [
+                    0.3465857037574073
+                ]
+            ],
+            [
+                [
+                    0.3446255070403214
+                ]
+            ]
+        ],
+        "std": [
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ]
+        ],
+        "count": [
+            802
+        ],
+        "q01": [
+            [
+                [
+                    0.0038035143475826944
+                ]
+            ],
+            [
+                [
+                    0.003804576321447341
+                ]
+            ],
+            [
+                [
+                    0.003803060286255398
+                ]
+            ]
+        ],
+        "q10": [
+            [
+                [
+                    0.003923084281626563
+                ]
+            ],
+            [
+                [
+                    0.003923402388578461
+                ]
+            ],
+            [
+                [
+                    0.0039225159306970694
+                ]
+            ]
+        ],
+        "q50": [
+            [
+                [
+                    0.35298147373091376
+                ]
+            ],
+            [
+                [
+                    0.2940715642100271
+                ]
+            ],
+            [
+                [
+                    0.2666951606645446
+                ]
+            ]
+        ],
+        "q90": [
+            [
+                [
+                    0.7687272292413191
+                ]
+            ],
+            [
+                [
+                    0.7451861694385661
+                ]
+            ],
+            [
+                [
+                    0.7725092399672833
+                ]
+            ]
+        ],
+        "q99": [
+            [
+                [
+                    0.999904708170059
+                ]
+            ],
+            [
+                [
+                    0.9999080203528294
+                ]
+            ],
+            [
+                [
+                    0.9999364465453309
+                ]
+            ]
+        ]
+    }
+}

official_data/umi_data/batch2/fold_clothes_e00564/meta/tasks.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6688ec1596e53b0d0e59b57bba11df0120547921fb04581db50f9112529b00de
+size 2196

official_data/umi_data/batch2/fold_clothes_e00564/videos/observation.images.left_ego/chunk-000/file-000.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b2a6cf1f0386d9e981cb5601aca7796ce314e30419854a0abad8e0df253e93a2
+size 19154597

official_data/umi_data/batch2/fold_clothes_e00564/videos/observation.images.right_ego/chunk-000/file-000.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0f77e03b8c9f04640053e28ab2d332dc23120feb25a7116ed33409b1bf168c05
+size 20065807

official_data/umi_data/batch2/fold_clothes_e00691/annotation/subtasks_000000.jsonl

@@ -0,0 +1 @@
+{"start_frame_index": 0, "end_frame_index": 782, "instruction": "fold the yellow long sleeve", "instruction_zh": "fold the yellow long sleeve", "target_objects": ["黄色长袖"], "success": null}

official_data/umi_data/batch2/fold_clothes_e00691/data/chunk-000/file-000.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ebcd6d82195259e8f1814091459d708f05e70369724611e98278de575cae9020
+size 157540

official_data/umi_data/batch2/fold_clothes_e00691/export_meta.json

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

official_data/umi_data/batch2/fold_clothes_e00691/meta/annotation.json

@@ -0,0 +1,14 @@
+{
+ "schema_version": 2,
+ "layers": {
+  "subtasks": {
+   "source": "human",
+   "review": "approved",
+   "segments_version": "a1ce600187172d6e"
+  }
+ },
+ "dropped_layers": [
+  "action_steps"
+ ],
+ "created_at": "2026-08-30T11:52:38+0000"
+}

official_data/umi_data/batch2/fold_clothes_e00691/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",
+    "native_size": [
+     1920,
+     1920
+    ],
+    "dataset_size": [
+     960,
+     960
+    ]
+   },
+   "rolling_shutter_ms": 15.845431327819824,
+   "imu": {
+    "gyro_range_dps": 2000.0,
+    "accel_range_g": 32.0,
+    "gyro_bias_rad_s": [
+     -0.002518561250610984,
+     -0.0072885972069277535,
+     0.002915579310339975
+    ],
+    "accel_bias_m_s2": [
+     0.0773645481000228,
+     -0.004034349015599402,
+     -0.017035712340228843
+    ],
+    "gravity_vector_camera_frame": [
+     -0.035645950543381134,
+     -0.35688292146869943,
+     -0.9334687710758329
+    ],
+    "gravity_magnitude_m_s2": 9.877518805553866,
+    "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": {
+     "model": "ucm_mei_radtan",
+     "canvas": [
+      15360,
+      7680
+     ],
+     "params_on_canvas": {
+      "xi": 2.31494,
+      "fx": 7122.31,
+      "fy": 7123.19,
+      "cx": 3850.16,
+      "cy": 3863.11,
+      "k1": 0.97814524,
+      "k2": -2.0472424,
+      "k3": 4.22111225,
+      "p1": -0.00088488,
+      "p2": 0.00103413
+     },
+     "params_on_native_fisheye": {
+      "xi": 2.31494,
+      "k1": 0.978145,
+      "k2": -2.047242,
+      "k3": 4.221112,
+      "p1": -0.000885,
+      "p2": 0.001034,
+      "fx": 1780.5775,
+      "fy": 1780.7975,
+      "cx": 962.54,
+      "cy": 965.7775
+     },
+     "cam_imu_factory": {
+      "yaw_deg": 0.127,
+      "pitch_deg": -0.013,
+      "roll_deg": 90.459,
+      "t_m": [
+       0.0,
+       0.0,
+       0.0
+      ]
+     },
+     "params_on_dataset_frame": {
+      "xi": 2.31494,
+      "k1": 0.978145,
+      "k2": -2.047242,
+      "k3": 4.221112,
+      "p1": -0.000885,
+      "p2": 0.001034,
+      "fx": 890.28875,
+      "fy": 890.39875,
+      "cx": 481.27,
+      "cy": 482.88875
+     }
+    },
+    "rear": {
+     "model": "ucm_mei_radtan",
+     "canvas": [
+      15360,
+      7680
+     ],
+     "params_on_canvas": {
+      "xi": 2.31494,
+      "fx": 7139.98,
+      "fy": 7138.46,
+      "cx": 11532.2,
+      "cy": 3880.38,
+      "k1": 0.96583682,
+      "k2": -2.02089548,
+      "k3": 3.96132421,
+      "p1": 0.0004576,
+      "p2": -4.547e-05
+     },
+     "params_on_native_fisheye": {
+      "xi": 2.31494,
+      "k1": 0.965837,
+      "k2": -2.020895,
+      "k3": 3.961324,
+      "p1": 0.000458,
+      "p2": -4.5e-05,
+      "fx": 1784.995,
+      "fy": 1784.615,
+      "cx": 963.05,
+      "cy": 970.095
+     },
+     "cam_imu_factory": {
+      "yaw_deg": -0.036,
+      "pitch_deg": -0.079,
+      "roll_deg": 89.418,
+      "t_m": [
+       0.00087,
+       5.8e-05,
+       -0.032965
+      ]
+     }
+    }
+   },
+   "cam_imu_used_by_cook": {
+    "R_cam_imu": [
+     [
+      0.00022689280081250986,
+      0.002216566277914145,
+      0.9999975176737157
+     ],
+     [
+      0.9999678858809576,
+      -0.00801145880629961,
+      -0.0002091281040473422
+     ],
+     [
+      0.008010975372941598,
+      0.999965451084052,
+      -0.002218312837167985
+     ]
+    ],
+    "t_cam_imu_m": [
+     0.004100510626148365,
+     -0.001160295357225906,
+     -0.025483155366164204
+    ],
+    "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": [
+     1920,
+     1920
+    ],
+    "dataset_size": [
+     960,
+     960
+    ]
+   },
+   "rolling_shutter_ms": 15.845431327819824,
+   "imu": {
+    "gyro_range_dps": 2000.0,
+    "accel_range_g": 32.0,
+    "gyro_bias_rad_s": [
+     -0.00297445326267163,
+     -0.009171064165059414,
+     0.0024493848553018027
+    ],
+    "accel_bias_m_s2": [
+     -0.06988166549143597,
+     -0.07039936214310165,
+     -0.03179497198720088
+    ],
+    "gravity_vector_camera_frame": [
+     -0.09856607518743148,
+     -0.32833392148692997,
+     -0.9394048992969755
+    ],
+    "gravity_magnitude_m_s2": 9.880354018769347,
+    "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": {
+     "model": "ucm_mei_radtan",
+     "canvas": [
+      15360,
+      7680
+     ],
+     "params_on_canvas": {
+      "xi": 2.31494,
+      "fx": 7113.44,
+      "fy": 7113.27,
+      "cx": 3855.56,
+      "cy": 3867.51,
+      "k1": 0.95333248,
+      "k2": -1.92126703,
+      "k3": 3.97410965,
+      "p1": 0.00022263,
+      "p2": -4.58e-05
+     },
+     "params_on_native_fisheye": {
+      "xi": 2.31494,
+      "k1": 0.953332,
+      "k2": -1.921267,
+      "k3": 3.97411,
+      "p1": 0.000223,
+      "p2": -4.6e-05,
+      "fx": 1778.36,
+      "fy": 1778.3175,
+      "cx": 963.89,
+      "cy": 966.8775
+     },
+     "cam_imu_factory": {
+      "yaw_deg": 0.025,
+      "pitch_deg": 0.019,
+      "roll_deg": 90.491,
+      "t_m": [
+       0.0,
+       0.0,
+       0.0
+      ]
+     },
+     "params_on_dataset_frame": {
+      "xi": 2.31494,
+      "k1": 0.953332,
+      "k2": -1.921267,
+      "k3": 3.97411,
+      "p1": 0.000223,
+      "p2": -4.6e-05,
+      "fx": 889.18,
+      "fy": 889.15875,
+      "cx": 481.945,
+      "cy": 483.43875
+     }
+    },
+    "rear": {
+     "model": "ucm_mei_radtan",
+     "canvas": [
+      15360,
+      7680
+     ],
+     "params_on_canvas": {
+      "xi": 2.31494,
+      "fx": 7109.51,
+      "fy": 7110.22,
+      "cx": 11504.2,
+      "cy": 3877.44,
+      "k1": 0.97504234,
+      "k2": -2.02693057,
+      "k3": 4.04262829,
+      "p1": 0.00113811,
+      "p2": -0.00057592
+     },
+     "params_on_native_fisheye": {
+      "xi": 2.31494,
+      "k1": 0.975042,
+      "k2": -2.026931,
+      "k3": 4.042628,
+      "p1": 0.001138,
+      "p2": -0.000576,
+      "fx": 1777.3775,
+      "fy": 1777.555,
+      "cx": 956.05,
+      "cy": 969.36
+     },
+     "cam_imu_factory": {
+      "yaw_deg": -0.121,
+      "pitch_deg": 0.227,
+      "roll_deg": 88.944,
+      "t_m": [
+       -0.000178,
+       -0.000385,
+       -0.033242
+      ]
+     }
+    }
+   },
+   "cam_imu_used_by_cook": {
+    "R_cam_imu": [
+     [
+      -0.0003316125518011891,
+      0.0004363322751622777,
+      0.9999998498236197
+     ],
+     [
+      0.999963226507196,
+      -0.008569316236085811,
+      0.00033533947685934697
+     ],
+     [
+      0.008569461268613798,
+      0.9999631875391175,
+      -0.00043347453687625704
+     ]
+    ],
+    "t_cam_imu_m": [
+     0.004100510626148365,
+     -0.001160295357225906,
+     -0.025483155366164204
+    ],
+    "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."
+   }
+  }
+ }
+}

official_data/umi_data/batch2/fold_clothes_e00691/meta/episodes/chunk-000/file-000.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:138ee780de1fcea39972b40ed18281328876164f0857db8ea67d7cfba8f5377c
+size 54453

official_data/umi_data/batch2/fold_clothes_e00691/meta/info.json

@@ -0,0 +1,147 @@
+{
+    "codebase_version": "v3.0",
+    "robot_type": "umi_bimanual_gripper",
+    "total_episodes": 1,
+    "total_frames": 782,
+    "total_tasks": 1,
+    "chunks_size": 1000,
+    "data_files_size_in_mb": 100,
+    "video_files_size_in_mb": 200,
+    "fps": 30,
+    "splits": {
+        "train": "0:1"
+    },
+    "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
+    "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
+    "features": {
+        "observation.images.left_ego": {
+            "dtype": "video",
+            "shape": [
+                960,
+                960,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 960,
+                "video.width": 960,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.right_ego": {
+            "dtype": "video",
+            "shape": [
+                960,
+                960,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 960,
+                "video.width": 960,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.state": {
+            "dtype": "float32",
+            "shape": [
+                16
+            ],
+            "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": {
+            "dtype": "float32",
+            "shape": [
+                16
+            ],
+            "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"
+            ]
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    }
+}

official_data/umi_data/batch2/fold_clothes_e00691/meta/stats.json

@@ -0,0 +1,812 @@
+{
+    "observation.state": {
+        "min": [
+            0.09665821492671967,
+            -0.5138898491859436,
+            -0.48113784193992615,
+            6.215881876414642e-05,
+            -0.6139253973960876,
+            -0.820610761642456,
+            -0.9794327616691589,
+            -0.9800000190734863,
+            -0.4173245131969452,
+            0.2079673409461975,
+            -1.0797170400619507,
+            0.2401571422815323,
+            -0.7077708840370178,
+            -0.01094895787537098,
+            -0.6302317380905151,
+            0.07999999821186066
+        ],
+        "max": [
+            0.687836766242981,
+            0.21712329983711243,
+            0.3750799596309662,
+            0.818758487701416,
+            0.3466856777667999,
+            0.8626669049263,
+            0.9768151044845581,
+            25.6733341217041,
+            0.7615505456924438,
+            0.8490561842918396,
+            -0.08485954999923706,
+            0.9624282121658325,
+            0.1559881567955017,
+            0.8692569732666016,
+            0.42355331778526306,
+            26.600000381469727
+        ],
+        "mean": [
+            0.4609690308570862,
+            -0.2350207418203354,
+            -0.18473388254642487,
+            0.1752225160598755,
+            0.0023099540267139673,
+            0.14605563879013062,
+            0.16721266508102417,
+            7.8727946281433105,
+            0.07625381648540497,
+            0.4583766460418701,
+            -0.5753055810928345,
+            0.6157103180885315,
+            -0.36997002363204956,
+            0.5909244418144226,
+            0.05052433907985687,
+            6.962557792663574
+        ],
+        "std": [
+            0.15247750282287598,
+            0.18730059266090393,
+            0.1938055157661438,
+            0.17268586158752441,
+            0.1863280087709427,
+            0.4512765407562256,
+            0.8073477149009705,
+            4.684898376464844,
+            0.2344338595867157,
+            0.1466517150402069,
+            0.1959233433008194,
+            0.14898981153964996,
+            0.1897743046283722,
+            0.19719339907169342,
+            0.1875661462545395,
+            4.976508617401123
+        ],
+        "count": [
+            782
+        ],
+        "q01": [
+            0.10124812573194504,
+            -0.5098225092887878,
+            -0.47038031458854673,
+            0.0020941632217727603,
+            -0.5511360251903534,
+            -0.6704926681518555,
+            -0.9744169425964355,
+            -0.9543061923980712,
+            -0.4105294692516327,
+            0.21768881529569625,
+            -1.0296119952201843,
+            0.3138027948141098,
+            -0.6986461174488068,
+            0.08232118159532548,
+            -0.6138306438922883,
+            0.1086946376413107
+        ],
+        "q10": [
+            0.22662290632724763,
+            -0.47021425565083824,
+            -0.37613129019737246,
+            0.03700173944234848,
+            -0.2859343528747559,
+            -0.5058041334152221,
+            -0.9098946690559387,
+            3.1363409996032714,
+            -0.2130961924791336,
+            0.31877313256263734,
+            -0.7867912292480469,
+            0.4246540546417236,
+            -0.5873283386230469,
+            0.266703200340271,
+            -0.13238151669502257,
+            2.1602285861968995
+        ],
+        "q50": [
+            0.474776029586792,
+            -0.24516940116882324,
+            -0.2104017734527588,
+            0.12663261592388153,
+            0.009319067001342773,
+            0.3440490961074829,
+            0.7213291525840759,
+            6.920048236846924,
+            0.05501145124435425,
+            0.40721774101257324,
+            -0.6198939085006714,
+            0.6068541705608368,
+            -0.3900803029537201,
+            0.6493815183639526,
+            0.07306444644927979,
+            5.787103652954102
+        ],
+        "q90": [
+            0.636451518535614,
+            0.033755981922149667,
+            0.16338866353034975,
+            0.3666416466236115,
+            0.23254588842391968,
+            0.6670027017593384,
+            0.9110069394111634,
+            13.5716552734375,
+            0.373889297246933,
+            0.7200434684753418,
+            -0.3230682373046875,
+            0.8147670865058899,
+            -0.11042968034744262,
+            0.7875386595726014,
+            0.2873832225799561,
+            12.877490615844726
+        ],
+        "q99": [
+            0.6826556885242462,
+            0.20676926016807556,
+            0.36415121793746946,
+            0.8151857531070709,
+            0.32789226293563845,
+            0.837814965248108,
+            0.9530192923545837,
+            23.110243034362792,
+            0.7236331748962402,
+            0.8347188937664032,
+            -0.10312914729118348,
+            0.956676025390625,
+            0.14011054158210753,
+            0.8534449172019959,
+            0.4153718042373657,
+            25.625018272399902
+        ]
+    },
+    "action": {
+        "min": [
+            0.09665821492671967,
+            -0.5138898491859436,
+            -0.48113784193992615,
+            6.215881876414642e-05,
+            -0.6139253973960876,
+            -0.820610761642456,
+            -0.9794327616691589,
+            -0.9800000190734863,
+            -0.4173245131969452,
+            0.2079673409461975,
+            -1.0797170400619507,
+            0.20494356751441956,
+            -0.7077708840370178,
+            -0.01094895787537098,
+            -0.6302317380905151,
+            0.07999999821186066
+        ],
+        "max": [
+            0.687836766242981,
+            0.21712329983711243,
+            0.3750799596309662,
+            0.818758487701416,
+            0.3466856777667999,
+            0.8626669049263,
+            0.9768151044845581,
+            25.6733341217041,
+            0.7615505456924438,
+            0.8490561842918396,
+            -0.08485954999923706,
+            0.9624282121658325,
+            0.1559881567955017,
+            0.8692569732666016,
+            0.42355331778526306,
+            26.600000381469727
+        ],
+        "mean": [
+            0.4611622095108032,
+            -0.23459026217460632,
+            -0.18417686223983765,
+            0.17530426383018494,
+            0.0026082585100084543,
+            0.14642231166362762,
+            0.16692037880420685,
+            7.882172584533691,
+            0.075104258954525,
+            0.4583885073661804,
+            -0.5758182406425476,
+            0.615170419216156,
+            -0.3698843717575073,
+            0.5912142992019653,
+            0.050154320895671844,
+            6.96033239364624
+        ],
+        "std": [
+            0.1523139625787735,
+            0.18743716180324554,
+            0.19432461261749268,
+            0.17265473306179047,
+            0.1859140396118164,
+            0.4507807195186615,
+            0.8077020645141602,
+            4.674728870391846,
+            0.2343556433916092,
+            0.1466638594865799,
+            0.19536490738391876,
+            0.14971016347408295,
+            0.18971827626228333,
+            0.19733141362667084,
+            0.18802976608276367,
+            4.979103088378906
+        ],
+        "count": [
+            782
+        ],
+        "q01": [
+            0.10124812573194504,
+            -0.5098225092887878,
+            -0.47038031458854673,
+            0.0020941632217727603,
+            -0.5511360251903534,
+            -0.6704926681518555,
+            -0.9744169425964355,
+            -0.9543061923980712,
+            -0.4105294692516327,
+            0.21768881529569625,
+            -1.0296119952201843,
+            0.3097521680593491,
+            -0.6986461174488068,
+            0.08232118159532548,
+            -0.6138306438922883,
+            0.1086946376413107
+        ],
+        "q10": [
+            0.22662290632724763,
+            -0.47021425565083824,
+            -0.37613129019737246,
+            0.03700173944234848,
+            -0.27921007871627807,
+            -0.5056358098983764,
+            -0.9100250840187073,
+            3.189647579193115,
+            -0.21663281917572022,
+            0.31877313256263734,
+            -0.7867912292480469,
+            0.4231294572353363,
+            -0.5873283386230469,
+            0.266703200340271,
+            -0.13786118626594543,
+            2.1602285861968995
+        ],
+        "q50": [
+            0.474776029586792,
+            -0.2450231909751892,
+            -0.2100592851638794,
+            0.12679634988307953,
+            0.009319067001342773,
+            0.3440490961074829,
+            0.7213291525840759,
+            6.920048236846924,
+            0.054932862520217896,
+            0.40721774101257324,
+            -0.6198939085006714,
+            0.6067134141921997,
+            -0.3900803029537201,
+            0.6495575904846191,
+            0.07306444644927979,
+            5.787103652954102
+        ],
+        "q90": [
+            0.636451518535614,
+            0.033755981922149667,
+            0.16441612839698794,
+            0.3666416466236115,
+            0.23254588842391968,
+            0.6670027017593384,
+            0.9110069394111634,
+            13.5716552734375,
+            0.3731819689273834,
+            0.7200434684753418,
+            -0.32326719760894773,
+            0.8148399353027344,
+            -0.11042968034744262,
+            0.7888765454292297,
+            0.2873832225799561,
+            12.877490615844726
+        ],
+        "q99": [
+            0.6826556885242462,
+            0.20676926016807556,
+            0.36415121793746946,
+            0.8151857531070709,
+            0.32789226293563845,
+            0.837814965248108,
+            0.9530192923545837,
+            23.110243034362792,
+            0.7236331748962402,
+            0.8347188937664032,
+            -0.10312914729118348,
+            0.9566986298561097,
+            0.14011054158210753,
+            0.8534449172019959,
+            0.4153718042373657,
+            25.625018272399902
+        ]
+    },
+    "timestamp": {
+        "min": [
+            0.0
+        ],
+        "max": [
+            26.03333282470703
+        ],
+        "mean": [
+            13.016666412353516
+        ],
+        "std": [
+            7.5247931480407715
+        ],
+        "count": [
+            782
+        ],
+        "q01": [
+            0.2333627888560295
+        ],
+        "q10": [
+            2.5991679668426513
+        ],
+        "q50": [
+            13.001046180725098
+        ],
+        "q90": [
+            23.43416404724121
+        ],
+        "q99": [
+            25.799969482421876
+        ]
+    },
+    "frame_index": {
+        "min": [
+            0
+        ],
+        "max": [
+            781
+        ],
+        "mean": [
+            390.5
+        ],
+        "std": [
+            225.74377067817397
+        ],
+        "count": [
+            782
+        ],
+        "q01": [
+            7.000883999901794
+        ],
+        "q10": [
+            77.97503999991999
+        ],
+        "q50": [
+            390.03139999999996
+        ],
+        "q90": [
+            703.0249600000801
+        ],
+        "q99": [
+            773.9991160000983
+        ]
+    },
+    "episode_index": {
+        "min": [
+            0
+        ],
+        "max": [
+            0
+        ],
+        "mean": [
+            0.0
+        ],
+        "std": [
+            0.0
+        ],
+        "count": [
+            782
+        ],
+        "q01": [
+            3.9999999999994176e-16
+        ],
+        "q10": [
+            3.999999999999417e-15
+        ],
+        "q50": [
+            1.9999999999997088e-14
+        ],
+        "q90": [
+            3.599999999999476e-14
+        ],
+        "q99": [
+            3.9599999999994235e-14
+        ]
+    },
+    "index": {
+        "min": [
+            0
+        ],
+        "max": [
+            781
+        ],
+        "mean": [
+            390.5
+        ],
+        "std": [
+            225.74377067817397
+        ],
+        "count": [
+            782
+        ],
+        "q01": [
+            7.000883999901794
+        ],
+        "q10": [
+            77.97503999991999
+        ],
+        "q50": [
+            390.03139999999996
+        ],
+        "q90": [
+            703.0249600000801
+        ],
+        "q99": [
+            773.9991160000983
+        ]
+    },
+    "task_index": {
+        "min": [
+            0
+        ],
+        "max": [
+            0
+        ],
+        "mean": [
+            0.0
+        ],
+        "std": [
+            0.0
+        ],
+        "count": [
+            782
+        ],
+        "q01": [
+            3.9999999999994176e-16
+        ],
+        "q10": [
+            3.999999999999417e-15
+        ],
+        "q50": [
+            1.9999999999997088e-14
+        ],
+        "q90": [
+            3.599999999999476e-14
+        ],
+        "q99": [
+            3.9599999999994235e-14
+        ]
+    },
+    "observation.images.left_ego": {
+        "min": [
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ]
+        ],
+        "max": [
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ]
+        ],
+        "mean": [
+            [
+                [
+                    0.3551821122092625
+                ]
+            ],
+            [
+                [
+                    0.31797988237613933
+                ]
+            ],
+            [
+                [
+                    0.31106188105537413
+                ]
+            ]
+        ],
+        "std": [
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ]
+        ],
+        "count": [
+            782
+        ],
+        "q01": [
+            [
+                [
+                    0.00380550228196074
+                ]
+            ],
+            [
+                [
+                    0.003805289927403373
+                ]
+            ],
+            [
+                [
+                    0.0038042181816745355
+                ]
+            ]
+        ],
+        "q10": [
+            [
+                [
+                    0.003930812331789189
+                ]
+            ],
+            [
+                [
+                    0.003929628781682584
+                ]
+            ],
+            [
+                [
+                    0.003929038232797439
+                ]
+            ]
+        ],
+        "q50": [
+            [
+                [
+                    0.356933803253193
+                ]
+            ],
+            [
+                [
+                    0.2980444505188095
+                ]
+            ],
+            [
+                [
+                    0.27049175206351694
+                ]
+            ]
+        ],
+        "q90": [
+            [
+                [
+                    0.7098282796445834
+                ]
+            ],
+            [
+                [
+                    0.6589164524204156
+                ]
+            ],
+            [
+                [
+                    0.6745179960638724
+                ]
+            ]
+        ],
+        "q99": [
+            [
+                [
+                    0.8312812101342473
+                ]
+            ],
+            [
+                [
+                    0.7999379126568517
+                ]
+            ],
+            [
+                [
+                    0.8705860744183863
+                ]
+            ]
+        ]
+    },
+    "observation.images.right_ego": {
+        "min": [
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ]
+        ],
+        "max": [
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ]
+        ],
+        "mean": [
+            [
+                [
+                    0.3713105720503046
+                ]
+            ],
+            [
+                [
+                    0.34394919395188633
+                ]
+            ],
+            [
+                [
+                    0.3398465911395378
+                ]
+            ]
+        ],
+        "std": [
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ]
+        ],
+        "count": [
+            782
+        ],
+        "q01": [
+            [
+                [
+                    0.003803314960868019
+                ]
+            ],
+            [
+                [
+                    0.0038045661631067964
+                ]
+            ],
+            [
+                [
+                    0.0038028327533445507
+                ]
+            ]
+        ],
+        "q10": [
+            [
+                [
+                    0.003922858418500782
+                ]
+            ],
+            [
+                [
+                    0.003923422987664137
+                ]
+            ],
+            [
+                [
+                    0.0039222796167955485
+                ]
+            ]
+        ],
+        "q50": [
+            [
+                [
+                    0.294111290983981
+                ]
+            ],
+            [
+                [
+                    0.2705681886936037
+                ]
+            ],
+            [
+                [
+                    0.2588242426787726
+                ]
+            ]
+        ],
+        "q90": [
+            [
+                [
+                    0.7803319239626539
+                ]
+            ],
+            [
+                [
+                    0.7451840609247874
+                ]
+            ],
+            [
+                [
+                    0.7647399996433879
+                ]
+            ]
+        ],
+        "q99": [
+            [
+                [
+                    0.9999144781887971
+                ]
+            ],
+            [
+                [
+                    0.9999054978857081
+                ]
+            ],
+            [
+                [
+                    0.9999328534459487
+                ]
+            ]
+        ]
+    }
+}

official_data/umi_data/batch2/fold_clothes_e00691/meta/tasks.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:da0eec253e074477444eceadb3dd0feb854d94315b08beac0749fed6e1cd9815
+size 2231

official_data/umi_data/batch2/fold_clothes_e00691/videos/observation.audio.left_ego/episode_0000.m4a

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3bb8460b7be930f0063715c7424d1d17b2159e926c4fe5e32ed505d28b662809
+size 624001

official_data/umi_data/batch2/fold_clothes_e00691/videos/observation.audio.right_ego/episode_0000.m4a

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:75dcc4044bef0fab04f9986ec9f62f49c0472796cebab4a9ab26163f56cb1324
+size 624270

official_data/umi_data/batch2/fold_clothes_e00691/videos/observation.images.left_ego/chunk-000/file-000.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:667ed227a45dd714a3394e5682df209b0a9a4a1949da5a446f3496b2c4d27171
+size 19521462

official_data/umi_data/batch2/fold_clothes_e00691/videos/observation.images.right_ego/chunk-000/file-000.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:241c8c423330775817bfc044bea82b46f226bda7b799ed7751410882f3c5ae37
+size 21027224

official_data/umi_data/batch2/fold_clothes_e00778/annotation/subtasks_000000.jsonl

@@ -0,0 +1 @@
+{"start_frame_index": 0, "end_frame_index": 872, "instruction": "fold the white t-shirt", "instruction_zh": "fold the white t-shirt", "target_objects": ["白色短袖"], "success": null}

official_data/umi_data/batch2/fold_clothes_e00778/data/chunk-000/file-000.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:010abdc98402699d3be6bc9479adde768c1038637c59c0640bff620a0487ed57
+size 174004

official_data/umi_data/batch2/fold_clothes_e00778/export_meta.json

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

official_data/umi_data/batch2/fold_clothes_e00778/meta/annotation.json

@@ -0,0 +1,14 @@
+{
+ "schema_version": 2,
+ "layers": {
+  "subtasks": {
+   "source": "human",
+   "review": "approved",
+   "segments_version": "16c44d2d6a7957ba"
+  }
+ },
+ "dropped_layers": [
+  "action_steps"
+ ],
+ "created_at": "2026-08-30T11:41:10+0000"
+}

official_data/umi_data/batch2/fold_clothes_e00778/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",
+    "native_size": [
+     1920,
+     1920
+    ],
+    "dataset_size": [
+     960,
+     960
+    ]
+   },
+   "rolling_shutter_ms": 15.845431327819824,
+   "imu": {
+    "gyro_range_dps": 2000.0,
+    "accel_range_g": 32.0,
+    "gyro_bias_rad_s": [
+     -0.0034029468771014423,
+     -0.006794012810818004,
+     0.0012770415392097147
+    ],
+    "accel_bias_m_s2": [
+     0.04315766556136603,
+     0.012773027894795362,
+     -0.1268851643784737
+    ],
+    "gravity_vector_camera_frame": [
+     0.8974686505002251,
+     -0.32452192040369465,
+     -0.29872319050720314
+    ],
+    "gravity_magnitude_m_s2": 9.90153642407022,
+    "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": {
+     "model": "ucm_mei_radtan",
+     "canvas": [
+      15360,
+      7680
+     ],
+     "params_on_canvas": {
+      "xi": 2.31494,
+      "fx": 7112.51,
+      "fy": 7111.42,
+      "cx": 3841.82,
+      "cy": 3859.36,
+      "k1": 0.96749437,
+      "k2": -1.91360009,
+      "k3": 3.80171752,
+      "p1": 0.00174285,
+      "p2": 0.00041042
+     },
+     "params_on_native_fisheye": {
+      "xi": 2.31494,
+      "k1": 0.967494,
+      "k2": -1.9136,
+      "k3": 3.801718,
+      "p1": 0.001743,
+      "p2": 0.00041,
+      "fx": 1778.1275,
+      "fy": 1777.855,
+      "cx": 960.455,
+      "cy": 964.84
+     },
+     "cam_imu_factory": {
+      "yaw_deg": 0.268,
+      "pitch_deg": -0.071,
+      "roll_deg": 90.577,
+      "t_m": [
+       0.0,
+       0.0,
+       0.0
+      ]
+     },
+     "params_on_dataset_frame": {
+      "xi": 2.31494,
+      "k1": 0.967494,
+      "k2": -1.9136,
+      "k3": 3.801718,
+      "p1": 0.001743,
+      "p2": 0.00041,
+      "fx": 889.06375,
+      "fy": 888.9275,
+      "cx": 480.2275,
+      "cy": 482.42
+     }
+    },
+    "rear": {
+     "model": "ucm_mei_radtan",
+     "canvas": [
+      15360,
+      7680
+     ],
+     "params_on_canvas": {
+      "xi": 2.31494,
+      "fx": 7089.4,
+      "fy": 7089.35,
+      "cx": 11526.9,
+      "cy": 3874.24,
+      "k1": 0.99325323,
+      "k2": -2.23778534,
+      "k3": 4.78137684,
+      "p1": 0.00125329,
+      "p2": 0.00190125
+     },
+     "params_on_native_fisheye": {
+      "xi": 2.31494,
+      "k1": 0.993253,
+      "k2": -2.237785,
+      "k3": 4.781377,
+      "p1": 0.001253,
+      "p2": 0.001901,
+      "fx": 1772.35,
+      "fy": 1772.3375,
+      "cx": 961.725,
+      "cy": 968.56
+     },
+     "cam_imu_factory": {
+      "yaw_deg": -0.409,
+      "pitch_deg": 0.017,
+      "roll_deg": 89.27,
+      "t_m": [
+       0.000668,
+       -0.000368,
+       -0.032995
+      ]
+     }
+    }
+   },
+   "cam_imu_used_by_cook": {
+    "R_cam_imu": [
+     [
+      0.0012391834517724374,
+      0.00467746174774516,
+      0.9999882928194564
+     ],
+     [
+      0.9999485246928967,
+      -0.010076065345582363,
+      -0.001192003209198736
+     ],
+     [
+      0.010070371833852065,
+      0.9999382952256353,
+      -0.0046897070674004546
+     ]
+    ],
+    "t_cam_imu_m": [
+     0.004100510626148365,
+     -0.001160295357225906,
+     -0.025483155366164204
+    ],
+    "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": [
+     1920,
+     1920
+    ],
+    "dataset_size": [
+     960,
+     960
+    ]
+   },
+   "rolling_shutter_ms": 15.845431327819824,
+   "imu": {
+    "gyro_range_dps": 2000.0,
+    "accel_range_g": 32.0,
+    "gyro_bias_rad_s": [
+     -0.0033130187679714413,
+     -0.00683684798435499,
+     -0.0007508533927175543
+    ],
+    "accel_bias_m_s2": [
+     -0.030192442930383857,
+     -0.040168242621054666,
+     -0.03507977648903129
+    ],
+    "gravity_vector_camera_frame": [
+     -0.03579913751223672,
+     -0.7688195565146952,
+     -0.6384629286606444
+    ],
+    "gravity_magnitude_m_s2": 9.768572282322717,
+    "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": {
+     "model": "ucm_mei_radtan",
+     "canvas": [
+      15360,
+      7680
+     ],
+     "params_on_canvas": {
+      "xi": 2.31494,
+      "fx": 7108.5,
+      "fy": 7108.45,
+      "cx": 3819.14,
+      "cy": 3857.32,
+      "k1": 0.97528142,
+      "k2": -2.0734899,
+      "k3": 4.09634972,
+      "p1": 0.00166681,
+      "p2": 0.00061366
+     },
+     "params_on_native_fisheye": {
+      "xi": 2.31494,
+      "k1": 0.975281,
+      "k2": -2.07349,
+      "k3": 4.09635,
+      "p1": 0.001667,
+      "p2": 0.000614,
+      "fx": 1777.125,
+      "fy": 1777.1125,
+      "cx": 954.785,
+      "cy": 964.33
+     },
+     "cam_imu_factory": {
+      "yaw_deg": 0.27,
+      "pitch_deg": -0.015,
+      "roll_deg": 90.543,
+      "t_m": [
+       0.0,
+       0.0,
+       0.0
+      ]
+     },
+     "params_on_dataset_frame": {
+      "xi": 2.31494,
+      "k1": 0.975281,
+      "k2": -2.07349,
+      "k3": 4.09635,
+      "p1": 0.001667,
+      "p2": 0.000614,
+      "fx": 888.5625,
+      "fy": 888.55625,
+      "cx": 477.3925,
+      "cy": 482.165
+     }
+    },
+    "rear": {
+     "model": "ucm_mei_radtan",
+     "canvas": [
+      15360,
+      7680
+     ],
+     "params_on_canvas": {
+      "xi": 2.31494,
+      "fx": 7149.59,
+      "fy": 7148.89,
+      "cx": 11519.2,
+      "cy": 3831.25,
+      "k1": 0.9654876,
+      "k2": -1.97057736,
+      "k3": 3.86157012,
+      "p1": 0.00151518,
+      "p2": -0.00023918
+     },
+     "params_on_native_fisheye": {
+      "xi": 2.31494,
+      "k1": 0.965488,
+      "k2": -1.970577,
+      "k3": 3.86157,
+      "p1": 0.001515,
+      "p2": -0.000239,
+      "fx": 1787.3975,
+      "fy": 1787.2225,
+      "cx": 959.8,
+      "cy": 957.8125
+     },
+     "cam_imu_factory": {
+      "yaw_deg": -0.318,
+      "pitch_deg": 0.01,
+      "roll_deg": 88.92,
+      "t_m": [
+       0.002478,
+       -0.000433,
+       -0.033181
+      ]
+     }
+    }
+   },
+   "cam_imu_used_by_cook": {
+    "R_cam_imu": [
+     [
+      0.0002617993848085748,
+      0.004712371377882996,
+      0.9999888624465167
+     ],
+     [
+      0.9999550579973974,
+      -0.009478124387093334,
+      -0.00021712559519011668
+     ],
+     [
+      0.009476995647535957,
+      0.9999439777878055,
+      -0.004714640961609947
+     ]
+    ],
+    "t_cam_imu_m": [
+     0.004100510626148365,
+     -0.001160295357225906,
+     -0.025483155366164204
+    ],
+    "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."
+   }
+  }
+ }
+}

official_data/umi_data/batch2/fold_clothes_e00778/meta/episodes/chunk-000/file-000.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:998a5faaf22d6fe6e9d99c85970c53625091bea139578536585cbaf3e85507bc
+size 54411

official_data/umi_data/batch2/fold_clothes_e00778/meta/info.json

@@ -0,0 +1,147 @@
+{
+    "codebase_version": "v3.0",
+    "robot_type": "umi_bimanual_gripper",
+    "total_episodes": 1,
+    "total_frames": 872,
+    "total_tasks": 1,
+    "chunks_size": 1000,
+    "data_files_size_in_mb": 100,
+    "video_files_size_in_mb": 200,
+    "fps": 30,
+    "splits": {
+        "train": "0:1"
+    },
+    "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
+    "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
+    "features": {
+        "observation.images.left_ego": {
+            "dtype": "video",
+            "shape": [
+                960,
+                960,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 960,
+                "video.width": 960,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.right_ego": {
+            "dtype": "video",
+            "shape": [
+                960,
+                960,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 960,
+                "video.width": 960,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.state": {
+            "dtype": "float32",
+            "shape": [
+                16
+            ],
+            "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": {
+            "dtype": "float32",
+            "shape": [
+                16
+            ],
+            "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"
+            ]
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    }
+}

official_data/umi_data/batch2/fold_clothes_e00778/meta/stats.json

@@ -0,0 +1,812 @@
+{
+    "observation.state": {
+        "min": [
+            -0.5154074430465698,
+            -0.5198347568511963,
+            -0.18320633471012115,
+            0.7549402117729187,
+            -0.46268483996391296,
+            -0.20879213511943817,
+            -0.5489410758018494,
+            -0.9200000166893005,
+            -0.022782189771533012,
+            -0.012711585499346256,
+            -0.40500760078430176,
+            0.5001155734062195,
+            -0.7841706871986389,
+            -0.5085811614990234,
+            -0.007201957982033491,
+            -0.9200000166893005
+        ],
+        "max": [
+            0.6372665762901306,
+            0.3994103968143463,
+            1.447822093963623,
+            0.9997615814208984,
+            0.3183154761791229,
+            0.5487796664237976,
+            0.3561552166938782,
+            22.399999618530273,
+            0.6409051418304443,
+            0.8142220973968506,
+            0.6734008193016052,
+            0.9885785579681396,
+            -0.0582415908575058,
+            0.3716214895248413,
+            0.6120338439941406,
+            22.229999542236328
+        ],
+        "mean": [
+            0.09334743022918701,
+            0.07816554605960846,
+            0.731769859790802,
+            0.9093002080917358,
+            -0.18513014912605286,
+            0.1839640587568283,
+            -0.14076489210128784,
+            3.9344894886016846,
+            0.339902400970459,
+            0.528823733329773,
+            0.15522336959838867,
+            0.720730185508728,
+            -0.5246227979660034,
+            -0.16307170689105988,
+            0.3436552584171295,
+            3.77350115776062
+        ],
+        "std": [
+            0.22955238819122314,
+            0.19952306151390076,
+            0.3053278923034668,
+            0.05142449960112572,
+            0.1465364545583725,
+            0.15213069319725037,
+            0.1948884278535843,
+            4.893106460571289,
+            0.1744704395532608,
+            0.15580543875694275,
+            0.24755841493606567,
+            0.09187573194503784,
+            0.13209587335586548,
+            0.1269822120666504,
+            0.13642805814743042,
+            4.71838903427124
+        ],
+        "count": [
+            872
+        ],
+        "q01": [
+            -0.4993345677852631,
+            -0.4702470016479492,
+            -0.16307292103767396,
+            0.7681958150863647,
+            -0.4436721646785736,
+            -0.12807740330696105,
+            -0.5372255063056945,
+            -0.9089369995594024,
+            -0.01034203477203846,
+            0.12649773478507995,
+            -0.39061732172966,
+            0.5264652419090271,
+            -0.7625786709785461,
+            -0.4868014144897461,
+            0.028307498991489412,
+            -0.7222064208984375
+        ],
+        "q10": [
+            -0.16448739171028137,
+            -0.19217903017997742,
+            0.3922857403755188,
+            0.8356920719146729,
+            -0.3320703446865082,
+            -0.0010356366634368891,
+            -0.36664262612660725,
+            -0.8575024247169495,
+            0.07718239352107048,
+            0.3508415460586548,
+            -0.10411007106304168,
+            0.6212608973185222,
+            -0.6695900440216065,
+            -0.3038108229637146,
+            0.16620883643627166,
+            -0.42829402089118956
+        ],
+        "q50": [
+            0.0606989860534668,
+            0.11499595642089844,
+            0.7495788335800171,
+            0.9176484942436218,
+            -0.20636051893234253,
+            0.16075141727924347,
+            -0.14427250623703003,
+            2.1629040241241455,
+            0.3675987124443054,
+            0.5234721899032593,
+            0.09893268346786499,
+            0.7124666968981425,
+            -0.5466467142105103,
+            -0.16891096532344818,
+            0.3326346278190613,
+            1.4505598545074463
+        ],
+        "q90": [
+            0.39806361198425294,
+            0.29513121843338014,
+            1.1006740093231202,
+            0.9714798212051392,
+            0.011507326364517222,
+            0.3934471368789673,
+            0.10287306308746338,
+            11.457323837280274,
+            0.5807484745979309,
+            0.7263025045394897,
+            0.5473996043205261,
+            0.8358654975891113,
+            -0.3733238697052002,
+            -0.0033800482749938845,
+            0.5243252754211426,
+            10.830013275146484
+        ],
+        "q99": [
+            0.6202715063095092,
+            0.38254776716232297,
+            1.4309507703781128,
+            0.9930182194709778,
+            0.30851865410804746,
+            0.5130647277832031,
+            0.3299581027030945,
+            17.746634674072265,
+            0.6356327867507935,
+            0.802360577583313,
+            0.6542655849456787,
+            0.9864566707611084,
+            -0.06996100664138795,
+            0.24263305187225342,
+            0.6006745600700378,
+            20.314475708007812
+        ]
+    },
+    "action": {
+        "min": [
+            -0.5154074430465698,
+            -0.5198347568511963,
+            -0.18320633471012115,
+            0.7549402117729187,
+            -0.46268483996391296,
+            -0.20879213511943817,
+            -0.5489410758018494,
+            -0.9200000166893005,
+            -0.022782189771533012,
+            -0.0068709636107087135,
+            -0.40500760078430176,
+            0.5001155734062195,
+            -0.7841706871986389,
+            -0.5085811614990234,
+            -0.007201957982033491,
+            -0.9200000166893005
+        ],
+        "max": [
+            0.6384173035621643,
+            0.3994103968143463,
+            1.447822093963623,
+            0.9997615814208984,
+            0.3183154761791229,
+            0.5487796664237976,
+            0.3561552166938782,
+            22.399999618530273,
+            0.6409051418304443,
+            0.8142220973968506,
+            0.6734008193016052,
+            0.9885785579681396,
+            -0.0582415908575058,
+            0.39176860451698303,
+            0.6120338439941406,
+            22.229999542236328
+        ],
+        "mean": [
+            0.09410573542118073,
+            0.07797136157751083,
+            0.7322635650634766,
+            0.9093295335769653,
+            -0.18528759479522705,
+            0.18395455181598663,
+            -0.14034390449523926,
+            3.9368669986724854,
+            0.33966264128685,
+            0.529495894908905,
+            0.15479137003421783,
+            0.7207199931144714,
+            -0.5246438384056091,
+            -0.1622951626777649,
+            0.34352907538414,
+            3.771348476409912
+        ],
+        "std": [
+            0.23025844991207123,
+            0.19959686696529388,
+            0.30531150102615356,
+            0.051421601325273514,
+            0.1465073525905609,
+            0.15212158858776093,
+            0.19494439661502838,
+            4.8944902420043945,
+            0.17470315098762512,
+            0.15472815930843353,
+            0.24798838794231415,
+            0.09186632186174393,
+            0.13206958770751953,
+            0.12829558551311493,
+            0.13644766807556152,
+            4.7199554443359375
+        ],
+        "count": [
+            872
+        ],
+        "q01": [
+            -0.49931851148605344,
+            -0.4702470016479492,
+            -0.16307292103767396,
+            0.7681958150863647,
+            -0.4436721646785736,
+            -0.12807740330696105,
+            -0.5372255063056945,
+            -0.9089369995594024,
+            -0.01034203477203846,
+            0.12724964916706086,
+            -0.39061732172966,
+            0.5264652419090271,
+            -0.7625786709785461,
+            -0.48684311032295224,
+            0.028307498991489412,
+            -0.7222064208984375
+        ],
+        "q10": [
+            -0.16459856629371644,
+            -0.19217903017997742,
+            0.3922857403755188,
+            0.8356920719146729,
+            -0.3320703446865082,
+            -0.0010356366634368891,
+            -0.36664262612660725,
+            -0.8575024247169495,
+            0.07666471749544143,
+            0.3509942352771759,
+            -0.10430418252944947,
+            0.6212608973185222,
+            -0.6695900440216065,
+            -0.30380560755729674,
+            0.16620883643627166,
+            -0.43107202053070065
+        ],
+        "q50": [
+            0.061274170875549316,
+            0.11499595642089844,
+            0.7497419118881226,
+            0.9176484942436218,
+            -0.20643861591815948,
+            0.16075141727924347,
+            -0.1441819965839386,
+            2.1629040241241455,
+            0.3675987124443054,
+            0.523883581161499,
+            0.09893268346786499,
+            0.7124666968981425,
+            -0.5466467142105103,
+            -0.16878914833068848,
+            0.3325107991695404,
+            1.4505598545074463
+        ],
+        "q90": [
+            0.3981679558753967,
+            0.29513121843338014,
+            1.1006740093231202,
+            0.9714798212051392,
+            0.011507326364517222,
+            0.3934471368789673,
+            0.10287306308746338,
+            11.457323837280274,
+            0.5807484745979309,
+            0.7263322472572327,
+            0.5473996043205261,
+            0.8358654975891113,
+            -0.3733238697052002,
+            -0.002260458469390857,
+            0.5243252754211426,
+            10.830013275146484
+        ],
+        "q99": [
+            0.6271421957015991,
+            0.38254776716232297,
+            1.4309507703781128,
+            0.9930182194709778,
+            0.30851865410804746,
+            0.5130647277832031,
+            0.3299581027030945,
+            17.746634674072265,
+            0.6356327867507935,
+            0.8022800922393799,
+            0.6542655849456787,
+            0.9864566707611084,
+            -0.06996100664138795,
+            0.26414942026138305,
+            0.6006745600700378,
+            20.314475708007812
+        ]
+    },
+    "timestamp": {
+        "min": [
+            0.0
+        ],
+        "max": [
+            29.03333282470703
+        ],
+        "mean": [
+            14.516666412353516
+        ],
+        "std": [
+            8.39081859588623
+        ],
+        "count": [
+            872
+        ],
+        "q01": [
+            0.26548078894615174
+        ],
+        "q10": [
+            2.8986878395080566
+        ],
+        "q50": [
+            14.50505256652832
+        ],
+        "q90": [
+            26.13464393615723
+        ],
+        "q99": [
+            28.767851486206055
+        ]
+    },
+    "frame_index": {
+        "min": [
+            0
+        ],
+        "max": [
+            871
+        ],
+        "mean": [
+            435.5
+        ],
+        "std": [
+            251.72455184188928
+        ],
+        "count": [
+            872
+        ],
+        "q01": [
+            7.96442399990183
+        ],
+        "q10": [
+            86.96063999991996
+        ],
+        "q50": [
+            435.1516
+        ],
+        "q90": [
+            784.03936000008
+        ],
+        "q99": [
+            863.0355760000982
+        ]
+    },
+    "episode_index": {
+        "min": [
+            0
+        ],
+        "max": [
+            0
+        ],
+        "mean": [
+            0.0
+        ],
+        "std": [
+            0.0
+        ],
+        "count": [
+            872
+        ],
+        "q01": [
+            3.9999999999994176e-16
+        ],
+        "q10": [
+            3.999999999999417e-15
+        ],
+        "q50": [
+            1.9999999999997088e-14
+        ],
+        "q90": [
+            3.599999999999476e-14
+        ],
+        "q99": [
+            3.9599999999994235e-14
+        ]
+    },
+    "index": {
+        "min": [
+            0
+        ],
+        "max": [
+            871
+        ],
+        "mean": [
+            435.5
+        ],
+        "std": [
+            251.72455184188928
+        ],
+        "count": [
+            872
+        ],
+        "q01": [
+            7.96442399990183
+        ],
+        "q10": [
+            86.96063999991996
+        ],
+        "q50": [
+            435.1516
+        ],
+        "q90": [
+            784.03936000008
+        ],
+        "q99": [
+            863.0355760000982
+        ]
+    },
+    "task_index": {
+        "min": [
+            0
+        ],
+        "max": [
+            0
+        ],
+        "mean": [
+            0.0
+        ],
+        "std": [
+            0.0
+        ],
+        "count": [
+            872
+        ],
+        "q01": [
+            3.9999999999994176e-16
+        ],
+        "q10": [
+            3.999999999999417e-15
+        ],
+        "q50": [
+            1.9999999999997088e-14
+        ],
+        "q90": [
+            3.599999999999476e-14
+        ],
+        "q99": [
+            3.9599999999994235e-14
+        ]
+    },
+    "observation.images.left_ego": {
+        "min": [
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ]
+        ],
+        "max": [
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ]
+        ],
+        "mean": [
+            [
+                [
+                    0.3403509548611094
+                ]
+            ],
+            [
+                [
+                    0.36084511180688894
+                ]
+            ],
+            [
+                [
+                    0.36870739766226296
+                ]
+            ]
+        ],
+        "std": [
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ]
+        ],
+        "count": [
+            872
+        ],
+        "q01": [
+            [
+                [
+                    0.003801541652575935
+                ]
+            ],
+            [
+                [
+                    0.0038051240196871504
+                ]
+            ],
+            [
+                [
+                    0.0038026447927280416
+                ]
+            ]
+        ],
+        "q10": [
+            [
+                [
+                    0.003915290822444142
+                ]
+            ],
+            [
+                [
+                    0.003918058365625272
+                ]
+            ],
+            [
+                [
+                    0.003915920027915785
+                ]
+            ]
+        ],
+        "q50": [
+            [
+                [
+                    0.3843402763942256
+                ]
+            ],
+            [
+                [
+                    0.3920052529721582
+                ]
+            ],
+            [
+                [
+                    0.3686297759819669
+                ]
+            ]
+        ],
+        "q90": [
+            [
+                [
+                    0.6470310464967088
+                ]
+            ],
+            [
+                [
+                    0.6941210085181994
+                ]
+            ],
+            [
+                [
+                    0.7491900462507226
+                ]
+            ]
+        ],
+        "q99": [
+            [
+                [
+                    0.9999033305631273
+                ]
+            ],
+            [
+                [
+                    0.9998972481553475
+                ]
+            ],
+            [
+                [
+                    0.9999182878293171
+                ]
+            ]
+        ]
+    },
+    "observation.images.right_ego": {
+        "min": [
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ]
+        ],
+        "max": [
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ]
+        ],
+        "mean": [
+            [
+                [
+                    0.33355947548971715
+                ]
+            ],
+            [
+                [
+                    0.35724991773396053
+                ]
+            ],
+            [
+                [
+                    0.3568132569179591
+                ]
+            ]
+        ],
+        "std": [
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ]
+        ],
+        "count": [
+            872
+        ],
+        "q01": [
+            [
+                [
+                    0.0038034192846290956
+                ]
+            ],
+            [
+                [
+                    0.0038055356200027628
+                ]
+            ],
+            [
+                [
+                    0.0038043437863019267
+                ]
+            ]
+        ],
+        "q10": [
+            [
+                [
+                    0.003922907985624809
+                ]
+            ],
+            [
+                [
+                    0.003924311041184962
+                ]
+            ],
+            [
+                [
+                    0.003923359489796663
+                ]
+            ]
+        ],
+        "q50": [
+            [
+                [
+                    0.3921481623364103
+                ]
+            ],
+            [
+                [
+                    0.41169003622273315
+                ]
+            ],
+            [
+                [
+                    0.35683517492511097
+                ]
+            ]
+        ],
+        "q90": [
+            [
+                [
+                    0.6353451972832775
+                ]
+            ],
+            [
+                [
+                    0.6823065091538112
+                ]
+            ],
+            [
+                [
+                    0.7373251823122315
+                ]
+            ]
+        ],
+        "q99": [
+            [
+                [
+                    0.7214799243853226
+                ]
+            ],
+            [
+                [
+                    0.7725073209408929
+                ]
+            ],
+            [
+                [
+                    0.9136800613656892
+                ]
+            ]
+        ]
+    }
+}

official_data/umi_data/batch2/fold_clothes_e00778/meta/tasks.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dc030b55a9a75c7d4329e098bad02ac038bc6551409f52ca37f2ac46f31ca42e
+size 2206

official_data/umi_data/batch2/fold_clothes_e00778/videos/observation.audio.left_ego/episode_0000.m4a

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:81cf46eec2eea63d458365adebfc0115bed77df35f932b83d2ac6a877a8c3223
+size 695592

official_data/umi_data/batch2/fold_clothes_e00778/videos/observation.audio.right_ego/episode_0000.m4a

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf1411202a64fcf3cfaab0ae7251cf749d5b6326e6e893d754cf7ea020bf416c
+size 695718

official_data/umi_data/batch2/fold_clothes_e00778/videos/observation.images.left_ego/chunk-000/file-000.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f08a058ad736d97af555429ca055dc231f901324cb282c41cc497572c817844d
+size 26606571

official_data/umi_data/batch2/fold_clothes_e00778/videos/observation.images.right_ego/chunk-000/file-000.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:91b854c6ad8a47c77eea8f47ab02e082d87c72bece3d31b34e01093359e9e67c
+size 29074704

official_data/umi_data/batch2/fold_clothes_e00830/annotation/subtasks_000000.jsonl

@@ -0,0 +1 @@
+{"start_frame_index": 0, "end_frame_index": 520, "instruction": "fold the black long sleeve", "instruction_zh": "fold the black long sleeve", "target_objects": ["黑色长袖"], "success": null}

official_data/umi_data/batch2/fold_clothes_e00830/data/chunk-000/file-000.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:93aafa81d4d9cf82742884f64b525d66781997332ef200165d074dc34c2b9404
+size 104560

official_data/umi_data/batch2/fold_clothes_e00830/export_meta.json

@@ -0,0 +1,42 @@
+{
+ "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,
+ "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"
+ ],
+ "episodes": []
+}