Update README.md

README.md

@@ -54,10 +54,12 @@ Small-Scale Demonstration Data from the FastUMI Pro Multimodal Sensing System
   <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="80%" style="border-radius: 10px; box-shadow: 0 4px 8px 0 rgba(0,0,0,0.2);">
 
-<a href="https://fastumi.com/pro/">Project Homepage</a>
 <br><br>
-<img src="https://huggingface.co/datasets/FastUMIPro/example_data_fastumi_pro_raw/resolve/main/4a84995c57de5d63186f923d7a7e06e1.png" alt="FastUMI Pro Hardware System" width="80%" style="border-radius: 10px; box-shadow: 0 4px 8px 0 rgba(0,0,0,0.2);">
+
+<a href="https://fastumi.com/pro/">Project Homepage</a>
+
 
 </div>
 
@@ -115,15 +117,22 @@ timestamp  x  y  z  qx  qy  qz  qw
 | y | Position Y (meters) | qz | Quaternion Z component |
 | z | Position Z (meters) | qw | Quaternion W component |
 
-Timestamp: Unix timestamp (seconds).
-Position (x, y, z): Translation vector in meters.
-Orientation (qx, qy, qz, qw): Rotation quaternion (Scalar-last format).
-2. Coordinate System Reference
+###  Coordinate System Reference
+
 To ensure correct visualization and control, please adhere to the following frame definition:
-Origin (0,0,0): Geometric center of the tracking base stations (World Frame).
-🔴 X-Axis: Points Right (facing the robot workspace).
-🟢 Y-Axis: Points Forward (main manipulation direction).
-🔵 Z-Axis: Points Upward (aligned with gravity, opposing g).
+
+*   **Origin (0,0,0):** Geometric center of the tracking base stations (World Frame).
+*   🔴 **X-Axis:** Points **Right** (facing the robot workspace).
+*   🟢 **Y-Axis:** Points **Forward** (main manipulation direction).
+*   🔵 **Z-Axis:** Points **Upward** (aligned with gravity, opposing g).
+
+###  Data Structure
+
+*   **Timestamp:** Unix timestamp (seconds).
+*   **Position (x, y, z):** Translation vector in meters.
+*   **Orientation (qx, qy, qz, qw):** Rotation quaternion (Scalar-last format).
+
+
 <div align="center">
 <small><i>Tip: If using ROS or specific simulators (like Isaac Gym), ensure you apply the necessary transform if your Z-axis convention differs.</i></small>
 </div>
@@ -155,11 +164,12 @@ dataset_root/   \
 ---
 
 ## 📸 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.
 
-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.
 
 ---
 
@@ -181,11 +191,10 @@ 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.
+> [!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.
 
 ---