The raw capture (murobotics/handumi-towel-raw-562) retargeted by inverse kinematics to bimanual AgileX PiPER: 14-D joint states and actions (radians, grippers in [0, 1]) with the wrist views resized to 640×480. 562 episodes, 200,835 frames. This is the training set of murobotics/handumi-towel-act-562. Recorded with HandUMI, a hand-worn bimanual interface whose swappable fingertips match the robot's installed parallel-jaw gripper. Task: grasp two corners of a flat yellow towel and fold it in half. 562 episodes, 30 fps, 111.9 minutes, no robot-collected data. Created with LeRobot (v3 format). Collected with the NONHUMAN community. Originally published as…