Update README.md

README.md

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-![Uploading 06ec6ddb60befdd9fe8a5607fc5c069f.png…]()
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 language:
   - en
@@ -58,7 +56,7 @@ Small-Scale Demonstration Data from the FastUMI Pro Multimodal Sensing System
 
 
 <a href="https://fastumi.com/pro/">Project Homepage</a>
-<img src="/home/lumos/图片/微信图片_20251211181337_1_1.png" alt="FastUMI Pro Hardware System" width="600">
+<img src="https://huggingface.co/datasets/FastUMIPro/example_data_fastumi_pro_raw/blob/main/4a84995c57de5d63186f923d7a7e06e1.png" alt="FastUMI Pro Hardware System" width="600">
 </div>
 
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@@ -114,29 +112,35 @@ timestamp  x  y  z  qx  qy  qz  qw
 | y | Position Y (meters) | qz | Quaternion Z component |
 | z | Position Z (meters) | qw | Quaternion W component |
 
+Origin: Located at the geometric center of the tracking base stations
+X-axis: Points rightward when facing the primary robot workspace
+Y-axis: Points forward along the main direction of manipulation tasks
+Z-axis: Points upward, aligned with gravity direction
+Units: All positions are in meters, time in seconds
+
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 ## 🗂️ Dataset Structure
 
 **Purpose:** The dataset is organized by tasks and sessions, with each task containing multimodal sensor data streams captured during robotic manipulation episodes. Below is the hierarchical structure observed from the actual dataset:
 
-dataset_root/
-├── pick_coke/ # Task: Picking up a coke can
-│ ├── RGB_Images/
-│ │ └── Frames/ # Multi-view RGB image frames captured during the task
-│ ├── ToF_PointClouds/
-│ │ └── PointClouds/ # Time-of-Flight depth sensor point cloud data
-│ ├── Clamp_Data/ # Clamp sensor readings (gripper width measurements)
-│ └── Merged_Trajectory/ # Fused trajectory data combining multiple sensor inputs
-├── unplug_charger/ # Task: Unplugging a charger
-│ ├── RGB_Images/
-│ │ └── Frames/ # RGB image sequences for charger unplugging task
-│ ├── ToF_PointClouds/
-│ │ └── PointClouds/ # 3D point cloud data for spatial understanding
-│ ├── Clamp_Data/ # Gripper width sensor data during manipulation
-│ └── Merged_Trajectory/ # Unified trajectory data from sensor fusion
-└── organize/ # Organized data structure following the same pattern
-└── session_folders/
+dataset_root/   \
+├── pick_coke/                     # Task: Picking up a coke can  \
+│   ├── RGB_Images/  \
+│   │   └── Frames/                # Multi-view RGB image frames captured during the task  \
+│   ├── ToF_PointClouds/  \
+│   │   └── PointClouds/           # Time-of-Flight depth sensor point cloud data  \
+│   ├── Clamp_Data/                # Clamp sensor readings (gripper width measurements)  \
+│   └── Merged_Trajectory/         # Fused trajectory data combining multiple sensor inputs  \
+├── unplug_charger/                # Task: Unplugging a charger  \
+│   ├── RGB_Images/  \
+│   │   └── Frames/                # RGB image sequences for charger unplugging task  \
+│   ├── ToF_PointClouds/  \
+│   │   └── PointClouds/           # 3D point cloud data for spatial understanding  \
+│   ├── Clamp_Data/                # Gripper width sensor data during manipulation  \
+│   └── Merged_Trajectory/         # Unified trajectory data from sensor fusion  \
+└── organize/                      # Organized data structure following the same pattern  \
+    └── session_folders/  \
 
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