Update README.md

README.md

@@ -56,7 +56,9 @@ Small-Scale Demonstration Data from the FastUMI Pro Multimodal Sensing System
 
 
 <a href="https://fastumi.com/pro/">Project Homepage</a>
-<img src="https://huggingface.co/datasets/FastUMIPro/example_data_fastumi_pro_raw/blob/main/4a84995c57de5d63186f923d7a7e06e1.png" alt="FastUMI Pro Hardware System" width="600">
+<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);">
+
 </div>
 
 ---
@@ -103,6 +105,7 @@ All pose data (SLAM, Vive, fused) follow the same structure:
 
 ```markdown
 timestamp  x  y  z  qx  qy  qz  qw
+
 ```
 
 | Field | Description | Field | Description |
@@ -112,11 +115,18 @@ 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
+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
+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).
+<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>
 
 ---
 
@@ -140,15 +150,16 @@ dataset_root/   \
 │   ├── 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/  \
+    └── session_folders/  
 
 ---
 
 ## 📸 How We Collect Data
 
-We collect data using equipment manufactured in China. 
-The FastUMI Pro system integrates multiple sensors including RGB cameras, 
-Time-of-Flight depth sensors, and force-sensitive clamp sensors to capture comprehensive multimodal interaction 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.
 
 ---
 
@@ -170,6 +181,7 @@ 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**.