Add files using upload-large-folder tool

example_data/robot_data_sample/meta/episodes.jsonl

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example_data/robot_data_sample/meta/info.json

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+                "instruction": "Use the left gripper to take the first clothing and put it into the washer.",
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+                "start_frame_index": 1028,
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+                "end_frame_index": 1747
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+                "instruction": "Use the left gripper to put the second clothing into the washer.",
+                "instruction_augmentation": "",
+                "start_frame_index": 1747,
+                "success_frame_index": 2388,
+                "end_frame_index": 2388
+            },
+            {
+                "instruction": "Use the left gripper to half-close the washing machine door.",
+                "instruction_augmentation": "",
+                "start_frame_index": 2388,
+                "success_frame_index": 2831,
+                "end_frame_index": 2831
+            },
+            {
+                "instruction": "Use the right gripper to fully close the half-closed washing machine door.",
+                "instruction_augmentation": "",
+                "start_frame_index": 2831,
+                "success_frame_index": 3100,
+                "end_frame_index": 3100
+            },
+            {
+                "instruction": "End remote operation.",
+                "instruction_augmentation": "",
+                "start_frame_index": 3100,
+                "success_frame_index": 3398,
+                "end_frame_index": 3398
+            }
+        ],
+        "6": [
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+                "instruction": "Start remote operation.",
+                "instruction_augmentation": "",
+                "start_frame_index": 0,
+                "success_frame_index": 144,
+                "end_frame_index": 144
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+            {
+                "instruction": "Use the right gripper to half-open the washing machine door.",
+                "instruction_augmentation": "",
+                "start_frame_index": 144,
+                "success_frame_index": 424,
+                "end_frame_index": 424
+            },
+            {
+                "instruction": "Use the left gripper to fully open the washing machine door.",
+                "instruction_augmentation": "",
+                "start_frame_index": 424,
+                "success_frame_index": 646,
+                "end_frame_index": 646
+            },
+            {
+                "instruction": "Use the left gripper to put the first clothing from the washer into the basket.",
+                "instruction_augmentation": "",
+                "start_frame_index": 646,
+                "success_frame_index": 1018,
+                "end_frame_index": 1018
+            },
+            {
+                "instruction": "Use the left gripper to take the second clothing out and put it in the basket.",
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+                "start_frame_index": 1018,
+                "success_frame_index": 1320,
+                "end_frame_index": 1320
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+                "instruction": "Use the left gripper to half-close the washing machine door.",
+                "instruction_augmentation": "",
+                "start_frame_index": 1320,
+                "success_frame_index": 1749,
+                "end_frame_index": 1749
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+            {
+                "instruction": "Use the right gripper to fully close the half-closed washing machine door.",
+                "instruction_augmentation": "",
+                "start_frame_index": 1749,
+                "success_frame_index": 1910,
+                "end_frame_index": 1910
+            },
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+                "instruction": "End remote operation.",
+                "instruction_augmentation": "",
+                "start_frame_index": 1910,
+                "success_frame_index": 2160,
+                "end_frame_index": 2160
+            }
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+                "instruction": "Start remote operation.",
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+                "success_frame_index": 95,
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+                "instruction": "Use the right gripper to half-open the washing machine door.",
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+                "instruction": "Use the left gripper to put the first clothing from the washer into the basket.",
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+                "success_frame_index": 972,
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+                "instruction": "Use the left gripper to take the second clothing out and put it in the basket.",
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+                "success_frame_index": 1287,
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+                "instruction": "Use the left gripper to half-close the washing machine door.",
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+                "success_frame_index": 1646,
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+            {
+                "instruction": "Use the right gripper to fully close the half-closed washing machine door.",
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+                "start_frame_index": 1646,
+                "success_frame_index": 1823,
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+                "instruction": "End remote operation.",
+                "instruction_augmentation": "",
+                "start_frame_index": 1823,
+                "success_frame_index": 2052,
+                "end_frame_index": 2052
+            }
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+        "8": [
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+                "instruction": "Start remote operation.",
+                "instruction_augmentation": "",
+                "start_frame_index": 0,
+                "success_frame_index": 159,
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+            {
+                "instruction": "Use the right gripper to half-open the washing machine door.",
+                "instruction_augmentation": "",
+                "start_frame_index": 159,
+                "success_frame_index": 543,
+                "end_frame_index": 543
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+            {
+                "instruction": "Use the left gripper to fully open the washing machine door.",
+                "instruction_augmentation": "",
+                "start_frame_index": 543,
+                "success_frame_index": 804,
+                "end_frame_index": 804
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+            {
+                "instruction": "Use the left gripper to put the first clothing from the washer into the basket.",
+                "instruction_augmentation": "",
+                "start_frame_index": 804,
+                "success_frame_index": 1263,
+                "end_frame_index": 1263
+            },
+            {
+                "instruction": "Use the left gripper to take the second clothing out and put it in the basket.",
+                "instruction_augmentation": "",
+                "start_frame_index": 1263,
+                "success_frame_index": 1624,
+                "end_frame_index": 1624
+            },
+            {
+                "instruction": "Use the left gripper to half-close the washing machine door.",
+                "instruction_augmentation": "",
+                "start_frame_index": 1624,
+                "success_frame_index": 2058,
+                "end_frame_index": 2058
+            },
+            {
+                "instruction": "Use the right gripper to fully close the half-closed washing machine door.",
+                "instruction_augmentation": "",
+                "start_frame_index": 2058,
+                "success_frame_index": 2261,
+                "end_frame_index": 2261
+            },
+            {
+                "instruction": "End remote operation.",
+                "instruction_augmentation": "",
+                "start_frame_index": 2261,
+                "success_frame_index": 2413,
+                "end_frame_index": 2413
+            }
+        ]
+    },
+    "episode_status": {
+        "0": "approved",
+        "1": "approved",
+        "2": "approved",
+        "3": "approved",
+        "4": "approved",
+        "5": "approved",
+        "6": "approved",
+        "7": "approved",
+        "8": "approved"
+    },
+    "take_over": {
+        "0": [],
+        "1": [],
+        "2": [],
+        "3": [],
+        "4": [],
+        "5": [],
+        "6": [],
+        "7": [],
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+    },
+    "episode_ids": {
+        "0": 169595,
+        "1": 169598,
+        "2": 169603,
+        "3": 126911,
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+        "6": 133296,
+        "7": 133297,
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+}

example_data/robot_data_sample/meta/tasks.jsonl

@@ -0,0 +1,3 @@
+{"task_index": 0, "task": "task5.2.3"}
+{"task_index": 1, "task": "task2"}
+{"task_index": 2, "task": "task3"}

example_data/umi_data_sample/annotation/action_steps_000000.jsonl

@@ -0,0 +1,13 @@
+{"subtask_index": 0, "start_frame_index": 195, "end_frame_index": 300, "instruction": "grasp the red shirt", "instruction_augmentation": [], "actor": "right", "actor_confidence": "low", "success": true}
+{"subtask_index": 0, "start_frame_index": 300, "end_frame_index": 345, "instruction": "lift the red shirt", "instruction_augmentation": [], "actor": "right", "actor_confidence": "low", "success": true}
+{"subtask_index": 0, "start_frame_index": 345, "end_frame_index": 405, "instruction": "lay the red shirt flat", "instruction_augmentation": [], "actor": "right", "actor_confidence": "low", "success": true}
+{"subtask_index": 0, "start_frame_index": 405, "end_frame_index": 450, "instruction": "smooth out wrinkles", "instruction_augmentation": [], "actor": "right", "actor_confidence": "low", "success": true}
+{"subtask_index": 0, "start_frame_index": 450, "end_frame_index": 555, "instruction": "pick up and reposition the red shirt", "instruction_augmentation": [], "actor": "right", "actor_confidence": "low", "success": true}
+{"subtask_index": 0, "start_frame_index": 555, "end_frame_index": 705, "instruction": "lay the red shirt flat", "instruction_augmentation": [], "actor": "right", "actor_confidence": "low", "success": true}
+{"subtask_index": 0, "start_frame_index": 705, "end_frame_index": 825, "instruction": "smooth out wrinkles", "instruction_augmentation": [], "actor": "right", "actor_confidence": "low", "success": true}
+{"subtask_index": 0, "start_frame_index": 825, "end_frame_index": 945, "instruction": "fold one side over", "instruction_augmentation": [], "actor": "right", "actor_confidence": "low", "success": true}
+{"subtask_index": 0, "start_frame_index": 945, "end_frame_index": 1035, "instruction": "fold the other side over", "instruction_augmentation": [], "actor": "right", "actor_confidence": "low", "success": true}
+{"subtask_index": 0, "start_frame_index": 1035, "end_frame_index": 1125, "instruction": "fold the red shirt in half", "instruction_augmentation": [], "actor": "right", "actor_confidence": "low", "success": true}
+{"subtask_index": 0, "start_frame_index": 1125, "end_frame_index": 1215, "instruction": "press the fold", "instruction_augmentation": [], "actor": "right", "actor_confidence": "low", "success": true}
+{"subtask_index": 0, "start_frame_index": 1215, "end_frame_index": 1365, "instruction": "pick up and stack the red shirt", "instruction_augmentation": [], "actor": "right", "actor_confidence": "low", "success": true}
+{"subtask_index": 0, "start_frame_index": 1365, "end_frame_index": 1410, "instruction": "release the red shirt", "instruction_augmentation": [], "actor": "right", "actor_confidence": "low", "success": true}

example_data/umi_data_sample/annotation/action_steps_000001.jsonl

@@ -0,0 +1,4 @@
+{"subtask_index": 1, "start_frame_index": 0, "end_frame_index": 45, "instruction": "grasp the black shirt", "instruction_augmentation": [], "actor": "right", "actor_confidence": "low", "success": true}
+{"subtask_index": 1, "start_frame_index": 45, "end_frame_index": 135, "instruction": "lay the black shirt flat", "instruction_augmentation": [], "actor": "right", "actor_confidence": "low", "success": true}
+{"subtask_index": 1, "start_frame_index": 135, "end_frame_index": 330, "instruction": "smooth out wrinkles on the black shirt", "instruction_augmentation": [], "actor": "right", "actor_confidence": "low", "success": true}
+{"subtask_index": 1, "start_frame_index": 390, "end_frame_index": 1050, "instruction": "press the black shirt to remove wrinkles", "instruction_augmentation": [], "actor": "right", "actor_confidence": "low", "success": true}

example_data/umi_data_sample/annotation/action_steps_000002.jsonl

@@ -0,0 +1,18 @@
+{"subtask_index": 2, "start_frame_index": 0, "end_frame_index": 30, "instruction": "reach for the yellow shirt", "instruction_augmentation": [], "actor": "right", "actor_confidence": "low", "success": true}
+{"subtask_index": 2, "start_frame_index": 30, "end_frame_index": 60, "instruction": "grasp the yellow shirt", "instruction_augmentation": [], "actor": "right", "actor_confidence": "low", "success": true}
+{"subtask_index": 2, "start_frame_index": 60, "end_frame_index": 105, "instruction": "lift and move the yellow shirt", "instruction_augmentation": [], "actor": "right", "actor_confidence": "low", "success": true}
+{"subtask_index": 2, "start_frame_index": 105, "end_frame_index": 210, "instruction": "lay the yellow shirt flat", "instruction_augmentation": [], "actor": "right", "actor_confidence": "low", "success": true}
+{"subtask_index": 2, "start_frame_index": 210, "end_frame_index": 270, "instruction": "smooth out wrinkles on the yellow shirt", "instruction_augmentation": [], "actor": "right", "actor_confidence": "low", "success": true}
+{"subtask_index": 2, "start_frame_index": 270, "end_frame_index": 330, "instruction": "reach for the bottom edge of the yellow shirt", "instruction_augmentation": [], "actor": "right", "actor_confidence": "low", "success": true}
+{"subtask_index": 2, "start_frame_index": 330, "end_frame_index": 375, "instruction": "fold the bottom edge of the yellow shirt up", "instruction_augmentation": [], "actor": "right", "actor_confidence": "low", "success": true}
+{"subtask_index": 2, "start_frame_index": 375, "end_frame_index": 435, "instruction": "smooth out wrinkles on the yellow shirt", "instruction_augmentation": [], "actor": "right", "actor_confidence": "low", "success": true}
+{"subtask_index": 2, "start_frame_index": 435, "end_frame_index": 480, "instruction": "reach for the left side of the yellow shirt", "instruction_augmentation": [], "actor": "right", "actor_confidence": "low", "success": true}
+{"subtask_index": 2, "start_frame_index": 480, "end_frame_index": 540, "instruction": "fold the left side of the yellow shirt over", "instruction_augmentation": [], "actor": "right", "actor_confidence": "low", "success": true}
+{"subtask_index": 2, "start_frame_index": 540, "end_frame_index": 585, "instruction": "smooth out wrinkles on the yellow shirt", "instruction_augmentation": [], "actor": "right", "actor_confidence": "low", "success": true}
+{"subtask_index": 2, "start_frame_index": 585, "end_frame_index": 630, "instruction": "reach for the right side of the yellow shirt", "instruction_augmentation": [], "actor": "right", "actor_confidence": "low", "success": true}
+{"subtask_index": 2, "start_frame_index": 630, "end_frame_index": 675, "instruction": "fold the right side of the yellow shirt over", "instruction_augmentation": [], "actor": "right", "actor_confidence": "low", "success": true}
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+{"subtask_index": 2, "start_frame_index": 720, "end_frame_index": 765, "instruction": "reach for the bottom edge of the yellow shirt", "instruction_augmentation": [], "actor": "right", "actor_confidence": "low", "success": true}
+{"subtask_index": 2, "start_frame_index": 765, "end_frame_index": 810, "instruction": "fold the yellow shirt in half", "instruction_augmentation": [], "actor": "right", "actor_confidence": "low", "success": true}
+{"subtask_index": 2, "start_frame_index": 810, "end_frame_index": 855, "instruction": "place/stack the yellow shirt on the pile", "instruction_augmentation": [], "actor": "right", "actor_confidence": "low", "success": true}
+{"subtask_index": 2, "start_frame_index": 855, "end_frame_index": 870, "instruction": "release the yellow shirt", "instruction_augmentation": [], "actor": "right", "actor_confidence": "low", "success": true}

example_data/umi_data_sample/annotation/action_steps_000003.jsonl

@@ -0,0 +1,8 @@
+{"subtask_index": 3, "start_frame_index": 0, "end_frame_index": 180, "instruction": "lay the black shirt flat", "instruction_augmentation": [], "actor": "right", "actor_confidence": "low", "success": true}
+{"subtask_index": 3, "start_frame_index": 180, "end_frame_index": 270, "instruction": "smooth out wrinkles on the black shirt", "instruction_augmentation": [], "actor": "right", "actor_confidence": "low", "success": true}
+{"subtask_index": 3, "start_frame_index": 300, "end_frame_index": 360, "instruction": "fold one side of the black shirt over", "instruction_augmentation": [], "actor": "right", "actor_confidence": "low", "success": true}
+{"subtask_index": 3, "start_frame_index": 390, "end_frame_index": 495, "instruction": "fold the other side of the black shirt over", "instruction_augmentation": [], "actor": "right", "actor_confidence": "low", "success": true}
+{"subtask_index": 3, "start_frame_index": 585, "end_frame_index": 660, "instruction": "fold the bottom of the black shirt up", "instruction_augmentation": [], "actor": "right", "actor_confidence": "low", "success": true}
+{"subtask_index": 3, "start_frame_index": 675, "end_frame_index": 795, "instruction": "smooth out wrinkles on the black shirt", "instruction_augmentation": [], "actor": "right", "actor_confidence": "low", "success": true}
+{"subtask_index": 3, "start_frame_index": 810, "end_frame_index": 915, "instruction": "grasp the black shirt", "instruction_augmentation": [], "actor": "both", "actor_confidence": "low", "success": true}
+{"subtask_index": 3, "start_frame_index": 930, "end_frame_index": 1050, "instruction": "fold the black shirt in half", "instruction_augmentation": [], "actor": "both", "actor_confidence": "low", "success": true}

example_data/umi_data_sample/annotation/action_steps_000004.jsonl

@@ -0,0 +1,27 @@
+{"subtask_index": 4, "start_frame_index": 75, "end_frame_index": 90, "instruction": "reach for the brown shirt", "instruction_augmentation": [], "actor": "right", "actor_confidence": "low", "success": true}
+{"subtask_index": 4, "start_frame_index": 90, "end_frame_index": 105, "instruction": "grasp the brown shirt", "instruction_augmentation": [], "actor": "right", "actor_confidence": "low", "success": true}
+{"subtask_index": 4, "start_frame_index": 105, "end_frame_index": 150, "instruction": "lift the brown shirt", "instruction_augmentation": [], "actor": "right", "actor_confidence": "low", "success": true}
+{"subtask_index": 4, "start_frame_index": 150, "end_frame_index": 195, "instruction": "lay the brown shirt flat", "instruction_augmentation": [], "actor": "right", "actor_confidence": "low", "success": true}
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+{"subtask_index": 4, "start_frame_index": 1545, "end_frame_index": 1560, "instruction": "grasp it", "instruction_augmentation": [], "actor": "right", "actor_confidence": "low", "success": true}

example_data/umi_data_sample/annotation/episode_subtasks_000000.jsonl

@@ -0,0 +1 @@
+{"start_frame_index": 0, "end_frame_index": 1410, "instruction": "fold the red shirt", "target_objects": ["red shirt"], "n_steps": 5, "success": true}

example_data/umi_data_sample/annotation/episode_subtasks_000001.jsonl

@@ -0,0 +1 @@
+{"start_frame_index": 0, "end_frame_index": 1050, "instruction": "fold the black shirt", "target_objects": ["black shirt"], "n_steps": 5, "success": true}

example_data/umi_data_sample/annotation/episode_subtasks_000002.jsonl

@@ -0,0 +1 @@
+{"start_frame_index": 0, "end_frame_index": 870, "instruction": "fold the yellow shirt", "target_objects": ["yellow shirt"], "n_steps": 3, "success": true}

example_data/umi_data_sample/annotation/episode_subtasks_000003.jsonl

@@ -0,0 +1 @@
+{"start_frame_index": 0, "end_frame_index": 1050, "instruction": "fold the black shirt", "target_objects": ["black shirt"], "n_steps": 2, "success": true}

example_data/umi_data_sample/annotation/episode_subtasks_000004.jsonl

@@ -0,0 +1 @@
+{"start_frame_index": 0, "end_frame_index": 1560, "instruction": "fold the brown shirt", "target_objects": ["brown shirt"], "n_steps": 2, "success": true}

example_data/umi_data_sample/meta/calibration.json

@@ -0,0 +1,337 @@
+{
+ "note": "Per-side camera and IMU calibration used for this dataset.",
+ "sides": {
+  "left": {
+   "capture": "left_ego",
+   "camera_type": "fisheye_camera",
+   "ego_video": {
+    "source": "fisheye.mp4",
+    "source_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": [
+     -0.004483527228334604,
+     -0.0028774288617300745,
+     0.0006799776922409066
+    ],
+    "accel_bias_m_s2": [
+     -0.11006082375269524,
+     0.021046561304339538,
+     0.03742919176153447
+    ],
+    "gravity_vector_camera_frame": [
+     -0.035079003216543,
+     -0.5087296887769387,
+     -0.860211350361208
+    ],
+    "gravity_magnitude_m_s2": 9.81474726535907,
+    "accel_convention": "Camera IMU reports +g_body (not specific force); negate before IMU preintegration."
+   },
+   "lenses": {
+    "front": {
+     "model": "ucm_mei_radtan",
+     "canvas": [
+      15360,
+      7680
+     ],
+     "params_on_canvas": {
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+      "fx": 7102.17,
+      "fy": 7103.75,
+      "cx": 3833.32,
+      "cy": 3853.6,
+      "k1": 0.95656186,
+      "k2": -1.93103337,
+      "k3": 3.92013597,
+      "p1": 0.00132903,
+      "p2": 0.00011066
+     },
+     "params_on_native_fisheye": {
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+      "k1": 0.956562,
+      "k2": -1.931033,
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+      "fx": 1775.5425,
+      "fy": 1775.9375,
+      "cx": 958.33,
+      "cy": 963.4
+     },
+     "cam_imu_factory": {
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+      "pitch_deg": -0.169,
+      "roll_deg": 90.589,
+      "t_m": [
+       0.0,
+       0.0,
+       0.0
+      ]
+     },
+     "params_on_dataset_frame": {
+      "xi": 2.31494,
+      "k1": 0.956562,
+      "k2": -1.931033,
+      "k3": 3.920136,
+      "p1": 0.001329,
+      "p2": 0.000111,
+      "fx": 887.77125,
+      "fy": 887.96875,
+      "cx": 479.165,
+      "cy": 481.7
+     }
+    },
+    "rear": {
+     "model": "ucm_mei_radtan",
+     "canvas": [
+      15360,
+      7680
+     ],
+     "params_on_canvas": {
+      "xi": 2.31494,
+      "fx": 7118.97,
+      "fy": 7117.51,
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+      "cy": 3884.79,
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+      "k3": 4.127075,
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+      "fx": 1779.7425,
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+      "pitch_deg": -0.435,
+      "roll_deg": 89.028,
+      "t_m": [
+       -0.000754,
+       0.000204,
+       -0.033261
+      ]
+     }
+    }
+   },
+   "cam_imu_used_by_cook": {
+    "R_cam_imu": [
+     [
+      0.0029496021588553776,
+      0.003263745709233859,
+      0.9999903238587109
+     ],
+     [
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+     [
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+      0.9999417366166671,
+      -0.0032939086373493997
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+    ],
+    "t_cam_imu_m": [
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+     -0.001160295357225906,
+     -0.025483155366164204
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+    "source": "Factory camera-IMU extrinsics; gravity=static; bias=factory."
+   },
+   "provenance": {
+    "camera_intrinsics": "Factory per-camera 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": {
+   "capture": "right_ego",
+   "camera_type": "fisheye_camera",
+   "ego_video": {
+    "source": "fisheye.mp4",
+    "source_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": [
+     -0.00524950087726284,
+     -0.008361999736439793,
+     -0.00041422858487046504
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+     -0.0017735484211631835,
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+    "accel_convention": "Camera IMU reports +g_body (not specific force); negate before IMU preintegration."
+   },
+   "lenses": {
+    "front": {
+     "model": "ucm_mei_radtan",
+     "canvas": [
+      15360,
+      7680
+     ],
+     "params_on_canvas": {
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+      "p2": -0.00057229
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+     "params_on_native_fisheye": {
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+     "cam_imu_factory": {
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+      "pitch_deg": 0.104,
+      "roll_deg": 90.389,
+      "t_m": [
+       0.0,
+       0.0,
+       0.0
+      ]
+     },
+     "params_on_dataset_frame": {
+      "xi": 2.31494,
+      "k1": 0.979501,
+      "k2": -2.200742,
+      "k3": 4.616228,
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+      "fx": 884.34875,
+      "fy": 884.5475,
+      "cx": 480.71375,
+      "cy": 481.6875
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+    },
+    "rear": {
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+     "canvas": [
+      15360,
+      7680
+     ],
+     "params_on_canvas": {
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+      "fx": 7118.99,
+      "fy": 7114.14,
+      "cx": 11518.6,
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+      "k1": 0.96309751,
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+      "p1": -0.0001182,
+      "p2": -0.00131586
+     },
+     "params_on_native_fisheye": {
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+      "k1": 0.963098,
+      "k2": -1.943665,
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+      "p1": -0.000118,
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+      "fx": 1779.7475,
+      "fy": 1778.535,
+      "cx": 959.65,
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+     "cam_imu_factory": {
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+      "pitch_deg": 0.294,
+      "roll_deg": 88.898,
+      "t_m": [
+       0.001239,
+       -0.000204,
+       -0.032099
+      ]
+     }
+    }
+   },
+   "cam_imu_used_by_cook": {
+    "R_cam_imu": [
+     [
+      -0.0018151414253366012,
+      -0.00012217284607139126,
+      0.9999983451663319
+     ],
+     [
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+     [
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+      0.9999769436136872,
+      0.0001344937323623193
+     ]
+    ],
+    "t_cam_imu_m": [
+     0.004100510626148365,
+     -0.001160295357225906,
+     -0.025483155366164204
+    ],
+    "source": "Factory camera-IMU extrinsics; gravity=static; bias=factory."
+   },
+   "provenance": {
+    "camera_intrinsics": "Factory per-camera 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."
+   }
+  }
+ }
+}

example_data/umi_data_sample/meta/episodes.jsonl

@@ -0,0 +1,5 @@
+{"episode_index": 0, "tasks": ["fold the red shirt"], "length": 1410}
+{"episode_index": 1, "tasks": ["fold the black shirt"], "length": 1050}
+{"episode_index": 2, "tasks": ["fold the yellow shirt"], "length": 870}
+{"episode_index": 3, "tasks": ["fold the black shirt"], "length": 1050}
+{"episode_index": 4, "tasks": ["fold the brown shirt"], "length": 1560}

example_data/umi_data_sample/meta/episodes_stats.jsonl

@@ -0,0 +1,5 @@
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example_data/umi_data_sample/meta/info.json

@@ -0,0 +1,141 @@
+{
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+}

example_data/umi_data_sample/meta/tasks.jsonl

@@ -0,0 +1,4 @@
+{"task_index": 0, "task": "fold the red shirt"}
+{"task_index": 1, "task": "fold the black shirt"}
+{"task_index": 2, "task": "fold the yellow shirt"}
+{"task_index": 3, "task": "fold the brown shirt"}