Update README.md

README.md

@@ -57,10 +57,8 @@ Small-Scale Demonstration Data from the FastUMI Pro Multimodal Sensing System
 <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);">
 
 <br><br>
-
 <a href="https://fastumi.com/pro/">Project Homepage</a>
 
-
 </div>
 
 ---
@@ -161,6 +159,48 @@ dataset_root/   \
 └── organize/                      # Organized data structure following the same pattern  \
     └── session_folders/  
 
+---
+## 📝 Directory & Data Details
+
+Below is the detailed specification for each data stream contained within a task folder.
+
+1. `RGB_Images/Frames/`
+*   **Description:** Stores multi-view RGB image frames captured during the task.
+*   **Format:** `.jpg` (JPEG Image)
+*   **Shape:** `(num_frames, Height, Width, 3)`
+*   **Data Type:** `uint8`
+*   **Color Space:** RGB
+
+2. `ToF_PointClouds/PointClouds/`
+*   **Description:** Dense 3D point cloud data generated by Time-of-Flight sensors.
+*   **Format:** `.pcd` (Point Cloud Library format)
+*   **Structure:** Unordered list of 3D points `(x, y, z)`.
+*   **Unit:** Meters
+
+3. `Merged_Trajectory/`
+*   **Description:** Fused trajectory data combining SLAM, Vive tracking, and IMU inputs. Represents the 6-DoF pose of the end-effector.
+*   **File:** `merged_trajectory.txt`
+*   **Shape:** `(num_timesteps, 8)`
+*   **Columns:**
+*   
+    ```text
+    [Timestamp, Pos_X, Pos_Y, Pos_Z, Q_X, Q_Y, Q_Z, Q_W]
+    ```
+    
+    *   `Timestamp`: Unix timestamp (seconds)
+    *   `Pos`: Cartesian position (meters)
+    *   `Q`: Rotation quaternion (scalar-last `xyzw`)
+
+4. `Clamp_Data/`
+*   **Description:** Records the state of the end-effector (gripper) over time.
+*   **File:** `clamp_data_tum.txt`
+*   **Shape:** `(num_timesteps, 2)`
+*   **Columns:**
+    ```text
+    [Timestamp, Width]
+    ```
+    *   `Width`: Opening distance of the clamp (meters/units).
+
 ---
 
 ## 📸 How We Collect Data