Datasets:

FastUMIPro
/

example_data_fastumi_pro_raw

@@ -62,3 +62,12 @@ pick_coke/session_007/RGB_Images/frames.bgr8 filter=lfs diff=lfs merge=lfs -text
 pick_coke/session_008/RGB_Images/frames.bgr8 filter=lfs diff=lfs merge=lfs -text
 pick_coke/session_009/RGB_Images/frames.bgr8 filter=lfs diff=lfs merge=lfs -text
 pick_coke/session_010/RGB_Images/frames.bgr8 filter=lfs diff=lfs merge=lfs -text

 pick_coke/session_008/RGB_Images/frames.bgr8 filter=lfs diff=lfs merge=lfs -text
 pick_coke/session_009/RGB_Images/frames.bgr8 filter=lfs diff=lfs merge=lfs -text
 pick_coke/session_010/RGB_Images/frames.bgr8 filter=lfs diff=lfs merge=lfs -text
+organize/session_001/left_hand_250801DR48FP25002269/RGB_Images/frames.bgr8 filter=lfs diff=lfs merge=lfs -text
+organize/session_001/right_hand_250801DR48FP25002087/RGB_Images/frames.bgr8 filter=lfs diff=lfs merge=lfs -text
+organize/session_002/left_hand_250801DR48FP25002269/RGB_Images/frames.bgr8 filter=lfs diff=lfs merge=lfs -text
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+organize/session_004/right_hand_250801DR48FP25002087/RGB_Images/frames.bgr8 filter=lfs diff=lfs merge=lfs -text
+organize/session_005/left_hand_250801DR48FP25002269/RGB_Images/frames.bgr8 filter=lfs diff=lfs merge=lfs -text

organize/session_001/left_hand_250801DR48FP25002269/Clamp_Data/clamp_data_tum.txt ADDED Viewed

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organize/session_001/left_hand_250801DR48FP25002269/Merged_Trajectory/merge_stats.txt ADDED Viewed

	@@ -0,0 +1,27 @@

+轨迹融合统计信息（基于速度的动态融合 / 流式双指针）
+============================================================
+融合配置:
+  速度阈值: 1.0 m/s
+  时间匹配阈值: 0.01 s
+  基准传感器: VIVE (100Hz)
+  辅助传感器: SLAM (500Hz)
+融合结果统计:
+  total_merged: 1460
+  averaged: 1460
+  use_slam: 0
+  use_vive: 0
+  both_high: 0
+  skipped: 0
+  no_match: 0
+策略占比:
+  均值融合: 100.0%
+  使用SLAM: 0.0%
+  使用VIVE: 0.0%
+生成时间: 2025-12-02 20:51:57
+设备标签: left_hand
+XV 序列号: 250801DR48FP25002269
+Vive 序列号: LHR_4C1B2FC6

organize/session_001/left_hand_250801DR48FP25002269/Merged_Trajectory/merged_trajectory.txt ADDED Viewed

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organize/session_001/left_hand_250801DR48FP25002269/RGB_Images/frames.bgr8 ADDED Viewed

	@@ -0,0 +1,3 @@

+version https://git-lfs.github.com/spec/v1
+oid sha256:c3a0acb566e6f5e9787a430f7cd698df4e99741919873984596bfc71ebd6cbb4
+size 5449420800

organize/session_001/left_hand_250801DR48FP25002269/RGB_Images/raw_meta.json ADDED Viewed

	@@ -0,0 +1,8 @@

+{
+  "width": 1920,
+  "height": 1080,
+  "channels": 3,
+  "dtype": "uint8",
+  "format": "bgr8",
+  "stride_bytes": 6220800
+}

organize/session_001/left_hand_250801DR48FP25002269/RGB_Images/timestamps.csv ADDED Viewed

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+Vive 时间戳对齐信息
+============================================================
+对齐参数:
+  SLAM 第一帧时间戳: 24098.944005s
+  Vive 第一帧时间戳: 1764679901.826480s
+说明:
+  - 所有保存的 Vive 数据已使用对齐后的时间戳
+  - 时间戳已与 SLAM 数据对齐
+  - 坐标已转换到 Gripper 坐标系
+生成时间: 2025-12-02 20:51:57
+设备标签: left_hand
+XV 序列号: 250801DR48FP25002269
+Vive 序列号: LHR_4C1B2FC6

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+轨迹融合统计信息（基于速度的动态融合 / 流式双指针）
+============================================================
+融合配置:
+  速度阈值: 1.0 m/s
+  时间匹配阈值: 0.01 s
+  基准传感器: VIVE (100Hz)
+  辅助传感器: SLAM (500Hz)
+融合结果统计:
+  total_merged: 1460
+  averaged: 1460
+  use_slam: 0
+  use_vive: 0
+  both_high: 0
+  skipped: 0
+  no_match: 0
+策略占比:
+  均值融合: 100.0%
+  使用SLAM: 0.0%
+  使用VIVE: 0.0%
+生成时间: 2025-12-02 20:51:57
+设备标签: right_hand
+XV 序列号: 250801DR48FP25002087
+Vive 序列号: LHR_B728E669

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+  "height": 1080,
+  "channels": 3,
+  "dtype": "uint8",
+  "format": "bgr8",
+  "stride_bytes": 6220800
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organize/session_001/right_hand_250801DR48FP25002087/RGB_Images/video.mp4 ADDED Viewed

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+version https://git-lfs.github.com/spec/v1
+oid sha256:6237b0ccbf3c440381528493a6e4db47f56c3c5f71cd59844d4706354c677b38
+size 35750661

organize/session_001/right_hand_250801DR48FP25002087/SLAM_Poses/slam_raw.txt ADDED Viewed

The diff for this file is too large to render. See raw diff

organize/session_001/right_hand_250801DR48FP25002087/Vive_Poses/offset_info.txt ADDED Viewed

	@@ -0,0 +1,15 @@

+Vive 时间戳对齐信息
+============================================================
+对齐参数:
+  SLAM 第一帧时间戳: 24098.945856s
+  Vive 第一帧时间戳: 1764679901.826269s
+说明:
+  - 所有保存的 Vive 数据已使用对齐后的时间戳
+  - 时间戳已与 SLAM 数据对齐
+  - 坐标已转换到 Gripper 坐标系
+生成时间: 2025-12-02 20:51:57
+设备标签: right_hand
+XV 序列号: 250801DR48FP25002087
+Vive 序列号: LHR_B728E669

organize/session_001/right_hand_250801DR48FP25002087/Vive_Poses/vive_data_tum.txt ADDED Viewed

The diff for this file is too large to render. See raw diff

organize/session_002/left_hand_250801DR48FP25002269/Clamp_Data/clamp_data_tum.txt ADDED Viewed

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organize/session_002/left_hand_250801DR48FP25002269/Merged_Trajectory/merge_stats.txt ADDED Viewed

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+轨迹融合统计信息（基于速度的动态融合 / 流式双指针）
+============================================================
+融合配置:
+  速度阈值: 1.0 m/s
+  时间匹配阈值: 0.01 s
+  基准传感器: VIVE (100Hz)
+  辅助传感器: SLAM (500Hz)
+融合结果统计:
+  total_merged: 1372
+  averaged: 1372
+  use_slam: 0
+  use_vive: 0
+  both_high: 0
+  skipped: 0
+  no_match: 0
+策略占比:
+  均值融合: 100.0%
+  使用SLAM: 0.0%
+  使用VIVE: 0.0%
+生成时间: 2025-12-02 20:52:33
+设备标签: left_hand
+XV 序列号: 250801DR48FP25002269
+Vive 序列号: LHR_4C1B2FC6

organize/session_002/left_hand_250801DR48FP25002269/Merged_Trajectory/merged_trajectory.txt ADDED Viewed

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+oid sha256:198c3bc5eb2c3936fca00b5b3e9686d82ad80ac3a3f6e30e22e1dc398d25dad2
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organize/session_002/left_hand_250801DR48FP25002269/SLAM_Poses/slam_raw.txt ADDED Viewed

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organize/session_002/left_hand_250801DR48FP25002269/Vive_Poses/offset_info.txt ADDED Viewed

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+Vive 时间戳对齐信息
+============================================================
+对齐参数:
+  SLAM 第一帧时间戳: 24136.312015s
+  Vive 第一帧时间戳: 1764679939.196642s
+说明:
+  - 所有保存的 Vive 数据已使用对齐后的时间戳
+  - 时间戳已与 SLAM 数据对齐
+  - 坐标已转换到 Gripper 坐标系
+生成时间: 2025-12-02 20:52:33
+设备标签: left_hand
+XV 序列号: 250801DR48FP25002269
+Vive 序列号: LHR_4C1B2FC6

organize/session_002/left_hand_250801DR48FP25002269/Vive_Poses/vive_data_tum.txt ADDED Viewed

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organize/session_002/right_hand_250801DR48FP25002087/Merged_Trajectory/merge_stats.txt ADDED Viewed

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+轨迹融合统计信息（基于速度的动态融合 / 流式双指针）
+============================================================
+融合配置:
+  速度阈值: 1.0 m/s
+  时间匹配阈值: 0.01 s
+  基准传感器: VIVE (100Hz)
+  辅助传感器: SLAM (500Hz)
+融合结果统计:
+  total_merged: 1372
+  averaged: 1372
+  use_slam: 0
+  use_vive: 0
+  both_high: 0
+  skipped: 0
+  no_match: 0
+策略占比:
+  均值融合: 100.0%
+  使用SLAM: 0.0%
+  使用VIVE: 0.0%
+生成时间: 2025-12-02 20:52:34
+设备标签: right_hand
+XV 序列号: 250801DR48FP25002087
+Vive 序列号: LHR_B728E669

organize/session_002/right_hand_250801DR48FP25002087/Merged_Trajectory/merged_trajectory.txt ADDED Viewed

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organize/session_002/right_hand_250801DR48FP25002087/RGB_Images/video.mp4 ADDED Viewed

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+version https://git-lfs.github.com/spec/v1
+oid sha256:daf925fcfd7437338c1d2a10da927d9834a11e3ea12b723e0a1b5b022c0659d5
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organize/session_002/right_hand_250801DR48FP25002087/SLAM_Poses/slam_raw.txt ADDED Viewed

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organize/session_002/right_hand_250801DR48FP25002087/Vive_Poses/offset_info.txt ADDED Viewed

	@@ -0,0 +1,15 @@

+Vive 时间戳对齐信息
+============================================================
+对齐参数:
+  SLAM 第一帧时间戳: 24136.311851s
+  Vive 第一帧时间戳: 1764679939.196328s
+说明:
+  - 所有保存的 Vive 数据已使用对齐后的时间戳
+  - 时间戳已与 SLAM 数据对齐
+  - 坐标已转换到 Gripper 坐标系
+生成时间: 2025-12-02 20:52:34
+设备标签: right_hand
+XV 序列号: 250801DR48FP25002087
+Vive 序列号: LHR_B728E669

organize/session_002/right_hand_250801DR48FP25002087/Vive_Poses/vive_data_tum.txt ADDED Viewed

The diff for this file is too large to render. See raw diff

organize/session_003/left_hand_250801DR48FP25002269/Clamp_Data/clamp_data_tum.txt ADDED Viewed

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organize/session_003/left_hand_250801DR48FP25002269/Merged_Trajectory/merge_stats.txt ADDED Viewed

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+轨迹融合统计信息（基于速度的动态融合 / 流式双指针）
+============================================================
+融合配置:
+  速度阈值: 1.0 m/s
+  时间匹配阈值: 0.01 s
+  基准传感器: VIVE (100Hz)
+  辅助传感器: SLAM (500Hz)
+融合结果统计:
+  total_merged: 1333
+  averaged: 1333
+  use_slam: 0
+  use_vive: 0
+  both_high: 0
+  skipped: 0
+  no_match: 0
+策略占比:
+  均值融合: 100.0%
+  使用SLAM: 0.0%
+  使用VIVE: 0.0%
+生成时间: 2025-12-02 20:53:08
+设备标签: left_hand
+XV 序列号: 250801DR48FP25002269
+Vive 序列号: LHR_4C1B2FC6

organize/session_003/left_hand_250801DR48FP25002269/Merged_Trajectory/merged_trajectory.txt ADDED Viewed

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organize/session_003/left_hand_250801DR48FP25002269/SLAM_Poses/slam_raw.txt ADDED Viewed

The diff for this file is too large to render. See raw diff

organize/session_003/left_hand_250801DR48FP25002269/Vive_Poses/offset_info.txt ADDED Viewed

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+Vive 时间戳对齐信息
+============================================================
+对齐参数:
+  SLAM 第一帧时间戳: 24171.508006s
+  Vive 第一帧时间戳: 1764679974.386312s
+说明:
+  - 所有保存的 Vive 数据已使用对齐后的时间戳
+  - 时间戳已与 SLAM 数据对齐
+  - 坐标已转换到 Gripper 坐标系
+生成时间: 2025-12-02 20:53:08
+设备标签: left_hand
+XV 序列号: 250801DR48FP25002269
+Vive 序列号: LHR_4C1B2FC6