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Datasets:
FastUMIPro
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example_data_fastumi_pro_raw

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Tags:
robotics
manipulation
trajectory-data
multimodal
embodied-ai
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  4. multi_sessions_20251119_181101/session_001/Merged_Trajectory/merge_stats.txt +37 -0
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  10. multi_sessions_20251119_181101/session_001/Vive_Poses/offset_info.txt +18 -0
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  12. multi_sessions_20251119_181101/session_002/Clamp_Data/clamp.csv +1673 -0
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  22. multi_sessions_20251119_181101/session_003/Clamp_Data/clamp.csv +1625 -0
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  31. multi_sessions_20251119_181101/session_003/Vive_Poses/vive_data_tum.txt +0 -0
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  33. multi_sessions_20251119_181101/session_004/Clamp_Data/clamp_data_tum.txt +1631 -0
  34. multi_sessions_20251119_181101/session_004/Merged_Trajectory/merge_stats.txt +37 -0
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  36. multi_sessions_20251119_181101/session_004/Merged_Trajectory/merged_trajectory.txt +0 -0
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  41. multi_sessions_20251119_181101/session_004/Vive_Poses/vive_data_tum.txt +0 -0
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  50. multi_sessions_20251119_181101/session_005/Vive_Poses/offset_info.txt +18 -0
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+ ========================================
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+ 多会话XVisio数据采集摘要（Buffered版本）
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+ ========================================
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+ 开始时间: 2025年 11月 19日 星期三 18:11:03 CST
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+ 设备数量: 1
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+ 计划会话数: 5
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+ 会话间隔: 3秒
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+ 摘要目录: ./multi_sessions_20251119_181101
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+ ToF模式: off
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+ Python脚本: ./single_session_data_collector_buffered.py
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+ 配置文件: ../start_process/config.json
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+ ========================================
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+
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+ 设备信息:
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+ XV序列号: 250801DR48FP25002087
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+ Vive序列号: LHR_B728E669
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+ 设备标签: main
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+
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+ ==========================================
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+ ==========================================
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+ 开始时间: 2025年 11月 19日 星期三 18:11:03 CST
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+ 输出目录: ./multi_sessions_20251119_181101/session_001
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+ 结束时间: 2025年 11月 19日 星期三 18:11:18 CST
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+ 持续时间: 15秒
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+ 数据目录: ./multi_sessions_20251119_181101/session_001
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+
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+ ==========================================
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+ 会话 2 信息:
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+ ==========================================
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+ 开始时间: 2025年 11月 19日 星期三 18:11:22 CST
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+ 输出目录: ./multi_sessions_20251119_181101/session_002
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+ 结束时间: 2025年 11月 19日 星期三 18:11:36 CST
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+
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+ ==========================================
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+ ==========================================
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+ 开始时间: 2025年 11月 19日 星期三 18:11:40 CST
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+ 输出目录: ./multi_sessions_20251119_181101/session_003
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+ 结束时间: 2025年 11月 19日 星期三 18:11:59 CST
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+ 持续时间: 19秒
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+ 状态: 成功
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+ 数据验证: 通过
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+ 数据目录: ./multi_sessions_20251119_181101/session_003
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+
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+ ==========================================
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+ 会话 4 信息:
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+ ==========================================
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+ 开始时间: 2025年 11月 19日 星期三 18:12:04 CST
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+ 输出目录: ./multi_sessions_20251119_181101/session_004
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+ 结束时间: 2025年 11月 19日 星期三 18:12:18 CST
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+ 状态: 成功
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+ 数据目录: ./multi_sessions_20251119_181101/session_004
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+
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+ ==========================================
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+ 会话 5 信息:
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+ ==========================================
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+ 开始时间: 2025年 11月 19日 星期三 18:12:22 CST
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+ 结束时间: 2025年 11月 19日 星期三 18:12:35 CST
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+ 数据目录: ./multi_sessions_20251119_181101/session_005
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+
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+ ==========================================
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+ 采集完成总结:
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+ ==========================================
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+ 完成时间: 2025年 11月 19日 星期三 18:12:35 CST
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+ 成功会话数: 5
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+ 成功率: 100%
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+
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+ 数据目录结构:
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+ ./multi_sessions_20251119_181101/
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+ ├─ session_001/
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+ ├─ session_002/
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+ ├─ session_003/
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+ ├─ session_004/
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+ ├─ session_005/
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+ └─ collection_summary.txt
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+ 轨迹融合统计信息（基于速度的动态融合）
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+ ============================================================
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+ 生成时间: 2025-11-19 18:11:15
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+ 设备标签: main
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+ XV 序列号: 250801DR48FP25002087
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+ 轨迹融合统计信息（基于速度的动态融合）
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+ ============================================================
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+ 辅助传感器: SLAM (500Hz)
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+ 1. 都低速 → 均值融合 (SLERP)
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+ 2. VIVE高速，SLAM正常 → 使用SLAM (500Hz)
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+ 3. SLAM高速，VIVE正常 → 使用VIVE (100Hz)
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+ 4. 都高速 → 不输出（跳过该帧）
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+
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+ 融合结果统计:
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+ 总融合点数: 836
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+ 策略分布:
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+ 输出率: 100.0%
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+ 生成时间: 2025-11-19 18:11:33
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+ 设备标签: main
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+ XV 序列号: 250801DR48FP25002087
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multi_sessions_20251119_181101/session_002/RGB_Images/video.mp4 ADDED
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1
+ version https://git-lfs.github.com/spec/v1
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multi_sessions_20251119_181101/session_002/SLAM_Poses/slam_raw.txt ADDED
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multi_sessions_20251119_181101/session_002/Vive_Poses/offset_info.txt ADDED
@@ -0,0 +1,18 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ Vive 时间戳对齐信息
2
+ ============================================================
3
+
4
+ 对齐参数:
5
+ SLAM 第一帧时间戳: 157677.337463s
6
+ Vive 第一帧时间戳: 1763547083.217424s
7
+ 计算的 offset: -1763389405.879961s
8
+ 对齐公式: vive_aligned = vive_original + -1763389405.879961
9
+
10
+ 说明:
11
+ - 所有保存的 Vive 数据已使用对齐后的时间戳
12
+ - 时间戳已与 SLAM 数据对齐
13
+ - 坐标已转换到 Gripper 坐标系
14
+
15
+ 生成时间: 2025-11-19 18:11:33
16
+ 设备标签: main
17
+ XV 序列号: 250801DR48FP25002087
18
+ Vive 序列号: LHR_B728E669
multi_sessions_20251119_181101/session_002/Vive_Poses/vive_data_tum.txt ADDED
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@@ -0,0 +1,37 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ 轨迹融合统计信息（基于速度的动态融合）
2
+ ============================================================
3
+
4
+ 融合配置:
5
+ 速度阈值: 1.0 m/s
6
+ 融合频率: 120 Hz
7
+ 时间匹配阈值: 0.01 s
8
+ 基准传感器: VIVE (100Hz)
9
+ 辅助传感器: SLAM (500Hz)
10
+
11
+ 融合策略:
12
+ 1. 都低速 → 均值融合 (SLERP)
13
+ 2. VIVE高速，SLAM正常 → 使用SLAM (500Hz)
14
+ 3. SLAM高速，VIVE正常 → 使用VIVE (100Hz)
15
+ 4. 都高速 → 不输出（跳过该帧）
16
+
17
+ 融合结果统计:
18
+ 总融合点数: 811
19
+ 均值融合 (都低速): 811
20
+ 使用SLAM (VIVE高速): 0
21
+ 使用VIVE (SLAM高速): 0
22
+ 都高速 (已跳过): 0
23
+ 总跳过帧数: 0
24
+
25
+ 策略分布:
26
+ 均值融合: 100.0%
27
+ 使用SLAM: 0.0%
28
+ 使用VIVE: 0.0%
29
+
30
+ 输出率统计:
31
+ 输出率: 100.0%
32
+ 跳过率: 0.0%
33
+
34
+ 生成时间: 2025-11-19 18:11:56
35
+ 设备标签: main
36
+ XV 序列号: 250801DR48FP25002087
37
+ Vive 序列号: LHR_B728E669
multi_sessions_20251119_181101/session_003/Merged_Trajectory/merged_trajectory.csv ADDED
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multi_sessions_20251119_181101/session_003/SLAM_Poses/slam_raw.txt ADDED
The diff for this file is too large to render. See raw diff
 
multi_sessions_20251119_181101/session_003/Vive_Poses/offset_info.txt ADDED
@@ -0,0 +1,18 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ Vive 时间戳对齐信息
2
+ ============================================================
3
+
4
+ 对齐参数:
5
+ SLAM 第一帧时间戳: 157700.871458s
6
+ Vive 第一帧时间戳: 1763547106.757405s
7
+ 计算的 offset: -1763389405.885947s
8
+ 对齐公式: vive_aligned = vive_original + -1763389405.885947
9
+
10
+ 说明:
11
+ - 所有保存的 Vive 数据已使用对齐后的时间戳
12
+ - 时间戳已与 SLAM 数据对齐
13
+ - 坐标已转换到 Gripper 坐标系
14
+
15
+ 生成时间: 2025-11-19 18:11:56
16
+ 设备标签: main
17
+ XV 序列号: 250801DR48FP25002087
18
+ Vive 序列号: LHR_B728E669
multi_sessions_20251119_181101/session_003/Vive_Poses/vive_data_tum.txt ADDED
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+ 轨迹融合统计信息（基于速度的动态融合）
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+ 生成时间: 2025-11-19 18:12:15
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+ 设备标签: main
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+ 设备标签: main
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multi_sessions_20251119_181101/session_005/SLAM_Poses/slam_raw.txt ADDED
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multi_sessions_20251119_181101/session_005/Vive_Poses/offset_info.txt ADDED
@@ -0,0 +1,18 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ Vive 时间戳对齐信息
2
+ ============================================================
3
+
4
+ 对齐参数:
5
+ SLAM 第一帧时间戳: 157737.919461s
6
+ Vive 第一帧时间戳: 1763547143.797425s
7
+ 计算的 offset: -1763389405.877964s
8
+ 对齐公式: vive_aligned = vive_original + -1763389405.877964
9
+
10
+ 说明:
11
+ - 所有保存的 Vive 数据已使用对齐后的时间戳
12
+ - 时间戳已与 SLAM 数据对齐
13
+ - 坐标已转换到 Gripper 坐标系
14
+
15
+ 生成时间: 2025-11-19 18:12:32
16
+ 设备标签: main
17
+ XV 序列号: 250801DR48FP25002087
18
+ Vive 序列号: LHR_B728E669