README.md

---
language:
  - en
  - zh
tags:
  - robotics
  - manipulation
  - trajectory-data
  - multimodal
  - embodied-ai
multimodal: vision+language+action
license: other
task_categories:
  - robotics
dataset_info:
  features:
    - name: rgb_images
      dtype: image
      description: Multi-view RGB images
    - name: slam_poses
      sequence: float32
      description: SLAM pose trajectories
    - name: vive_poses
      sequence: float32
      description: Vive tracking system poses
    - name: point_clouds
      sequence: float32
      description: Time-of-Flight point cloud data
    - name: clamp_data
      sequence: float32
      description: Clamp sensor readings
    - name: merged_trajectory
      sequence: float32
      description: Fused trajectory data
  configs:
    - config_name: default
      data_files: "**/*"
---
<div align="center">

<h1 style="font-size:44px; font-weight:900; margin-bottom:10px;">
FastUMI Pro – Multimodal Sample Dataset
</h1>

<h3 style="font-size:20px; font-weight:400; margin-top:-10px;">
Small-Scale Demonstration Data from the FastUMI Pro Multimodal Sensing System  
<br>(Only Dozens of Trajectories — Full Dataset Available Upon Request)
</h3>


<div style="display: flex; justify-content: center; gap: 8px; margin: 10px 0;">
  <img src="https://img.shields.io/badge/FastUMI-Pro-brightgreen" height="15"/>
  <img src="https://img.shields.io/badge/Sample%20Dataset-Small-blue" height="15"/>
  <img src="https://img.shields.io/badge/Multimodal-Vision%20%7C%20Pose%20%7C%20PointCloud-orange" height="15"/>
</div>

<img src="https://huggingface.co/datasets/FastUMIPro/example_data_fastumi_pro_raw/resolve/main/4a84995c57de5d63186f923d7a7e06e1.png" alt="FastUMI Pro Hardware System" width="60%" style="border-radius: 10px; box-shadow: 0 4px 8px 0 rgba(0,0,0,0.2);">
<br><br>
<a href="https://fastumi.com/pro/">Project Homepage</a>
</div>

---

## 📖 Overview

The **FastUMI Pro Sample Dataset** provides a public preview of the multimodal sensing capabilities of the FastUMI Pro data collection system.

This release contains **only dozens of sample trajectories** and is intended for:

- System testing  
- Robotics and AI pipeline integration  
- Preliminary algorithm development  
- Demonstrating multimodal alignment and synchronization  


Full-scale datasets are available upon request for research or enterprise collaboration.


<div style="background-color:#fff8f8; border-left:4px solid #ff6b6b; padding:10px; margin:10px 0;">
  ⚠️ <span style="color:#e74c3c;font-weight:bold">Note: The current image has been compressed. The new lossless image data is on its way.</span>
</div>


---


## 📊 Data Specifications

**Purpose:** The following table is to provide users with an overview of the technical specifications of the dataset.

| **Data Type** | **Path** | **Shape** | **Type** | **Description** |
|--------------|----------|-----------|----------|-----------------|
| RGB Images | RGB_Images/Frames/*.mp4| (H, W, 3) | uint8 | Multi-view RGB images |
| ToF PointClouds | ToF_PointClouds/PointClouds/*.pcd | variable | pcd | Time-of-Flight point clouds |
| Clamp Data | Clamp_Data/clamp_data_tum.txt | (N, 2) | float | Timestamp + clamp width |
| Merged Trajectory | Merged_Trajectory/merged_trajectory.txt | (N, 8) | float | Fused multi-sensor pose |

---

## 🧭 Data Formats

All pose data (SLAM, Vive, fused) follow the same structure:

```markdown
timestamp  x  y  z  qx  qy  qz  qw

```

| Field | Description | Field | Description |
| :---: | :---: | :---: | :---: |
| timestamp | Unix timestamp | qx | Quaternion X component |
| x | Position X (meters) | qy | Quaternion Y component |
| y | Position Y (meters) | qz | Quaternion Z component |
| z | Position Z (meters) | qw | Quaternion W component |

---

###  Coordinate System 

To ensure correct visualization and control, all pose data adheres to the following right-handed coordinate system (World Frame).
*   **Origin (0,0,0):** Geometric center of the tracking base stations (World Frame).
*   🔴 **X-Axis:** Points Forward (the primary direction of manipulation).
*   🟢 **Y-Axis:** Points Right (relative to the workspace).
*   🔵 **Z-Axis:** Points Upward (opposite to the direction of gravity).
<div align="center">
<img src="https://huggingface.co/datasets/FastUMIPro/example_data_fastumi_pro_raw/resolve/main/1_2025-12-11_201019_400.jpg" alt="Coordinate System Visualization" width="50%" style="border-radius: 8px; margin-top: 15px;">
<br>
<small><i>Visual reference for the coordinate system.</i></small>
</div>
<div align="center" style="margin-top: 15px;">
<small><i>Tip: When using simulation environments like ROS or Isaac Gym, ensure your coordinate frame conventions match. You may need to apply a transformation if your framework uses a different "up" axis (e.g., Z-up vs. Y-up).</i></small>
</div>


---

## 📸 How We Collect Data
We collect data using the **FastUMI Pro** hardware suite. This system integrates high-frequency sensors to capture comprehensive multimodal interaction data:

*   **Visual:** Industrial-grade RGB cameras.
*   **Spatial:** Time-of-Flight depth sensors for dense 3D reconstruction.
*   **Haptic/State:** Force-sensitive clamp sensors for precise gripper feedback.


---

## 📥 Download

```bash
huggingface-cli download FastUMIPro/example_data_fastumi_pro_raw \
  --repo-type dataset \
  --local-dir ./fastumi_sample/
```

Optional:

```bash
export HF_ENDPOINT=https://hf-mirror.com
```

---

## ⚠️ Dataset Scale Notice

> [!IMPORTANT]
> This dataset contains **only a small number of sample episodes** and is **not intended for large-scale training**.
>
> For full multimodal datasets or enterprise collaborations, please contact the FastUMI team.

---

## 📞 Contact

Lead: **Ding Yan**  
Email: **dingyan@lumosbot.tech**  
WeChat: **Duke_dingyan**

---