Update README.md

README.md

@@ -144,33 +144,36 @@ session_001/
 
 ## Data Specifications
 
-| Data Type | Path | Shape/Type | Description |
-| :--- | :--- | :--- | :--- |
-| **RGB Images** | `Frames/frame_...jpg` | `(frames, 1080, 1920, 3)`, `uint8`, 60 FPS | Camera video data |
-| **SLAM Poses** | `slam_raw.txt` | `(timestamps, 7)`, `float` | UMI end-effector poses |
-| **Vive Poses** | `vive_data_tum.txt` | `(timestamps, 7)`, `float` | Vive base station poses |
-| **ToF PointClouds** | `PointClouds/pointcloud_...pcd` | `pcd format` | Time-of-Flight point cloud data |
-| **Clamp Data** | `clamp_data_tum.txt` | `(timestamps, 1)`, `float` | Gripper spacing (mm) |
-| **Merged Trajectory** | `merged_trajectory.txt` | `(timestamps, 7)`, `float` | Fused trajectory (Vive/UMI based on velocity) |
+| Data Type | Path | Shape| Type | Description |
+| :--- | :--- | :--- | :--- | :--- |
+| **RGB Images** | `session_XXX/RGB_Images/Video.MP4` | `(frames, 1080, 1920, 3)`| `uint8`| Camera video data, 60 FPS  |
+| **SLAM Poses** | `session_XXX/SLAM_Poses/slam_raw.txt` | `(timestamps, 7)`| `float` | UMI end-effector poses |
+| **Vive Poses** | `session_XXX/Vive_Poses/vive_data_tum.txt` | `(timestamps, 7)`| `float` | Vive base station poses |
+| **ToF PointClouds** | `session_XXX/PointClouds/pointcloud_...pcd` | `pcd format` | Time-of-Flight point cloud data |
+| **Clamp Data** | `session_XXX/Clamp_Data/clamp_data_tum.txt` | `(timestamps, 1)`| `float` | Gripper spacing (mm) |
+| **Merged Trajectory** | `session_XXX/Merged_Trajectory/merged_trajectory.txt` | `(timestamps, 7)`| `float` | Fused trajectory (Vive/UMI based on velocity) |
 
-Pose Data Format
+### Pose Data Format
 
 All pose data (SLAM, Vive, Merged) follow the same format:
-```
-[Pos_X, Pos_Y, Pos_Z, Q_X, Q_Y, Q_Z, Q_W]
-```
-
-🔄 Data Conversion
+| Column Name | Description |
+| :--- | :--- |
+| **Timestamp** | Unix timestamp of the trajectory data |
+| **Pos X** | X-coordinate of position (meters) |
+| **Pos Y** | Y-coordinate of position (meters) |
+| **Pos Z** | Z-coordinate of position (meters) |
+| **Q_X** | X-component of orientation quaternion |
+| **Q_Y** | Y-component of orientation quaternion |
+| **Q_Z** | Z-component of orientation quaternion |
+| **Q_W** | W-component of orientation quaternion |
+## 🔄 Data Conversion
 [TBD - Data conversion methods will be added here]
 
-🤝 Collaboration
+## 🤝 Collaboration
 FastUMI Pro dataset is available for research collaboration. The full FastUMI-150K dataset has been provided to partner research teams for large-scale model training.
 
-📞 Contact
-For questions or suggestions, please contact the development team:
-
+## 📞 Contact
+For questions or suggestions, please contact the development team
 Lead: Ding Yan
-
 Email: [email protected]
-
 WeChat: Duke_dingyan