The schema. The stages. The signed release.

# Black Robotics Ingest Contract v0
# Hashing the manifest yields episode_id. Missing required fields → hard reject.
 
# Identity
dataset_id: uuid
episode_id: hash(manifest)
operator_id: uuid
 
robot:
  serial: str
  embodiment_ref: hash(urdf+srdf)
  firmware_version: semver
 
capture_device:
  kind: robot | aria | mocap | handheld
  serial: str
  firmware_version: semver
 
# Time
episode_start_utc: iso8601
episode_end_utc: iso8601
timebase: monotonic | wall
clock_offsets_ns:
  rgb_head: int
  depth_head: int
  imu: int
 
# Sensors — one block per stream
streams:
  rgb_head:
    type: rgb
    resolution: [1280, 720]
    fps: 30
    shutter: global | rolling
    exposure_mode: auto | fixed
    frame_uri: str
  depth_head:
    type: depth
    resolution: [1280, 720]
    fps: 30
    aligned_to: rgb_head
    frame_uri: str
  proprio:
    type: proprioception
    joint_names: [...]
    units: rad | m | N
    hz: 200
  action:
    type: action
    space: delta_joint | abs_joint | ee_pose | vla_tokens
    joint_mapping: [...]
    dt_ms: 33
 
# Calibration (required per camera)
calibration:
  rgb_head:
    intrinsics: { fx, fy, cx, cy, distortion }
    extrinsics_ref_frame: head_link
    extrinsics_SE3: [...]
    quality_score: 0.0
    source: checkerboard | apriltag | vio
    timestamp: iso8601
 
# Task
task:
  nl_instruction: "pick up the red cup and place it on the shelf"
  ontology_ref: uri
  subtasks:
    - { start_ts, end_ts, label }
  success: true
  failure_mode: null
 
# Consent / Privacy
consent:
  environment: lab | enterprise_consented | public | private_home
  pii_state: raw | blurred | reviewed
  blur_tool: egoblur_gen2 | none
  blur_tool_version: semver
  jurisdiction: us | eu | uk
  retention_policy_ref: uri
 
# Quality
quality:
  motion_blur_score: 0.0
  exposure_health: 0.0
  dropped_frames: int
  operator_tier: novice | trained | expert
  sensor_drift_flags: [...]
 
# Lineage — Merkle chain, signed at release
lineage:
  parent_refs: [...]
  processing_steps:
    - { tool, version, input_hash, output_hash, ts }
  manifest_signature: jws