Use local files over remote

README.md

@@ -186,64 +186,162 @@ LET dataset statistics are as follows:
 ## 📦 Dataset
 <hr style="margin-top: -10px;margin-bottom: 6px">
 <a id="dataset-directory-structure"></a>
+
 ### Dataset Directory Structure
 
 ```text
 .
-├── real
-│   ├── Labelled
-│   │   ├── customer_check_in-P4-dex_hand
-│   │   ├── deliver_room_card-P4-dex_hand
-│   │   ├── deliver_water_bottle-P4-dex_hand
-│   │   ├── loading_of_large_tooling-P4-dex_hand
-│   │   ├── loading_of_small_tooling-P4-dex_hand
-│   │   ├── more_coil_sorting-P4-dex_hand
-│   │   ├── more_FMCG_loading-P4-dex_hand
-│   │   ├── more_goods_orders-P4-dex_hand
-│   │   ├── more_scan_code_for_weighing-P4-dex_hand
-│   │   ├── parts_offline-P4-dex_hand
-│   │   ├── quick_sort-P4-leju_claw
-│   │   ├── single_coil_sorting-P4-dex_hand
-│   │   ├── single_FMCG_loading-P4-dex_hand
-│   │   ├── single_goods_orders-P4-dex_hand
-│   │   ├── single_scan_code_for_weighing-P4-dex_hand
-│   │   ├── SPS_parts_grab-P4-leju_claw
-│   │   ├── SPS_parts_sorting-P4-dex_hand
-│   │   └── task_mass_check-P4-leju_claw
-│   └── Unlabelled
-│       ├── assembly_line_sorting-P4-leju_claw
-│       ├── deliver_room_card-P4-dex_hand
-│       ├── Express_delivery_sorting-P4-leju_claw
-│       ├── loading_of_large_tooling-P4-dex_hand
-│       ├── loading_of_small_tooling-P4-dex_hand
-│       ├── loading_of_small_tooling-P4-leju_claw
-│       ├── more_coil_sorting-P4-dex_hand
-│       ├── more_FMCG_loading-P4-dex_hand
-│       ├── more_goods_orders-P4-dex_hand
-│       ├── more_scan_code_for_weighing-P4-dex_hand
-│       ├── parts_offline-P4-dex_hand
-│       ├── Parts_off_line-P4-leju_claw
-│       ├── quick_sort-P4-leju_claw
-│       ├── single_coil_sorting-P4-dex_hand
-│       ├── single_FMCG_loading-P4-leju_claw
-│       ├── single_goods_orders-P4-dex_hand
-│       ├── SMT_tray_rack_blanking-P4-leju_claw
-│       ├── SPS_parts_grab-P4-leju_claw
-│       ├── SPS_parts_sorting-P4-dex_hand
-│       ├── SPS_parts_sorting-P4-leju_claw
-│       ├── Standardized_feeding_for_FMCG-P4-dex_hand
-│       └── task_mass_check-P4-leju_claw
-└── sim
-    ├── BottleFlip-P4-claw(Rq2f85)
-    ├── PackageWeighing-P4-claw(Rq2f85)
-    ├── SPS_parts_sorting-P4-claw(Rq2f85)
-    └── TargetPlacement-P4-claw(Rq2f85)
+├── hdf5
+│   ├── real
+│   │   ├── Labelled
+│   │   │   ├── customer_check_in-P4-dex_hand
+│   │   │   ├── deliver_room_card-P4-dex_hand
+│   │   │   ├── deliver_water_bottle-P4-dex_hand
+│   │   │   ├── loading_of_large_tooling-P4-dex_hand
+│   │   │   ├── loading_of_small_tooling-P4-dex_hand
+│   │   │   ├── more_coil_sorting-P4-dex_hand
+│   │   │   ├── more_FMCG_loading-P4-dex_hand
+│   │   │   ├── more_goods_orders-P4-dex_hand
+│   │   │   ├── more_scan_code_for_weighing-P4-dex_hand
+│   │   │   ├── parts_offline-P4-dex_hand
+│   │   │   ├── quick_sort-P4-leju_claw
+│   │   │   ├── rubbish_sorting-P4-leju_claw
+│   │   │   ├── shop_oversale-P4-leju_claw
+│   │   │   ├── single_coil_sorting-P4-dex_hand
+│   │   │   ├── single_FMCG_loading-P4-dex_hand
+│   │   │   ├── single_goods_orders-P4-dex_hand
+│   │   │   ├── single_scan_code_for_weighing-P4-dex_hand
+│   │   │   ├── SPS_parts_grab-P4-leju_claw
+│   │   │   ├── SPS_parts_sorting-P4-dex_hand
+│   │   │   └── task_mass_check-P4-leju_claw
+│   │   └── Unlabelled
+│   │       ├── assembly_line_sorting-P4-leju_claw
+│   │       ├── clothing_storage-P4-leju_claw
+│   │       ├── countertop_cleaning-P4-leju_claw
+│   │       ├── deliver_room_card-P4-dex_hand
+│   │       ├── desktop_decluttering-P4-leju_claw
+│   │       ├── drug_finishing-P4-leju_claw
+│   │       ├── express_delivery_sorting-P4-leju_claw
+│   │       ├── express_logistics_scenario-P4-leju_claw
+│   │       ├── loading_of_large_tooling-P4-dex_hand
+│   │       ├── loading_of_small_tooling-P4-dex_hand
+│   │       ├── loading_of_small_tooling-P4-leju_claw
+│   │       ├── more_coil_sorting-P4-dex_hand
+│   │       ├── more_FMCG_loading-P4-dex_hand
+│   │       ├── more_goods_orders-P4-dex_hand
+│   │       ├── more_goods_orders-P4-leju_claw
+│   │       ├── more_scan_code_for_weighing-P4-dex_hand
+│   │       ├── parts_offline-P4-dex_hand
+│   │       ├── parts_off_line-P4-leju_claw
+│   │       ├── quick_sort-P4-leju_claw
+│   │       ├── rubbish_sorting-P4-leju_claw
+│   │       ├── shop_oversale-P4-leju_claw
+│   │       ├── single_coil_sorting-P4-dex_hand
+│   │       ├── single_FMCG_loading-P4-leju_claw
+│   │       ├── single_goods_orders-P4-dex_hand
+│   │       ├── SMT_tray_rack_blanking-P4-leju_claw
+│   │       ├── SPS_parts_grab-P4-leju_claw
+│   │       ├── SPS_parts_sorting-P4-dex_hand
+│   │       ├── SPS_parts_sorting-P4-leju_claw
+│   │       ├── standardized_feeding_for_FMCG-P4-dex_hand
+│   │       └── task_mass_check-P4-leju_claw
+│   └── sim
+│       └── Unlabelled
+│           ├── bottle_flip-P4-claw(Rq2f85)
+│           ├── package_weighing-P4-claw(Rq2f85)
+│           ├── SPS_parts_sorting-P4-claw(Rq2f85)
+│           └── target_placement-P4-claw(Rq2f85)
+└── rosbag
+    ├── real
+    │   ├── Labelled  // Same task structure as HDF5.
+    │   └── Unlabelled // Same task structure as HDF5.
+    └── sim
+        └── Unlabelled // Same task structure as HDF5.
 ```
 
 <a id="data-format"></a>
 ### Data Format
 
-Below is a detailed description of common directories and files in the dataset (cameras, joints, parameters, metadata, etc.).
+#### ROSbag Data Format
+
+| Topic Type           | Topic Name                                      | Message Type                        | Main Fields / Description                                                                                   |
+|--------------------|------------------------------------------------|---------------------------------|--------------------------------------------------------------------------------------------------|
+| <b>Camera RGB Image</b>      | <span style="color:#1890FF">/cam_x/color/image_raw/compressed</span>               | <span style="color:#000000">sensor_msgs/CompressedImage</span>     | x is h/l/r, for head/left wrist/right wrist camera respectively;<br>header (message header with timestamp, sequence, frame, etc.),<br>format (image encoding format),<br>data (image data)|
+| <b>Camera Depth Image</b>       | <span style="color:#1890FF">/cam_x/depth/image_rect_raw/compressed</span>          | <span style="color:#000000">sensor_msgs/CompressedImage</span>     | x is h/l/r, for head/left wrist/right wrist camera respectively;<br>header (message header), format (encoding format), data (image data)|
+| <b>Arm Trajectory Control</b>       | <span style="color:#1890FF">/kuavo_arm_traj</span>                                 | <span style="color:#000000">sensor_msgs/JointState</span>          | header (message header),<br>name (joint name list, 14 joints, arm_joint_1~arm_joint_14),<br>position (desired joint position, structure same as raw sensor data items 12-25)|
+| <b>Raw Sensor Data</b>     | <span style="color:#1890FF">/sensors_data_raw</span>                               | <span style="color:#000000">kuavo_msgs/sensorsData</span>          | sensor_time (timestamp),<br>joint_data (joint data: position, velocity, acceleration, current),<br>imu_data (IMU data: gyroscope, accelerometer, quaternion),<br>end_effector_data (end effector data, currently unused)|
+| <b>Dexterous Hand Position (Real Robot)</b> | <span style="color:#1890FF">/control_robot_hand_position</span>                    | <span style="color:#000000">kuavo_msgs/robotHandPosition</span>    | left_hand_position (left hand 6D, 0 open, 100 closed),<br>right_hand_position (right hand 6D, 0 open, 100 closed)|
+| <b>Dexterous Hand State (Real Robot)</b> | <span style="color:#1890FF">/dexhand/state</span>                                  | <span style="color:#000000">sensor_msgs/JointState</span>          | name (12 joint names),<br>position (12 joint positions, first 6 for left hand, last 6 for right hand),<br>velocity (12 joint velocities),<br>effort (12 joint currents)|
+| <b>Gripper Control (Real Robot)</b>   | <span style="color:#1890FF">/control_robot_leju_claw</span>                        | <span style="color:#000000">kuavo_msgs/controlLejuClaw</span>      | name (length 2, left_claw/right_claw),<br>position (length 2, 0 open, 100 closed),<br>velocity (length 2, target velocity, default 50),<br>effort (length 2, target current in A, default 1)|
+| <b>Gripper State (Real Robot)</b>   | <span style="color:#1890FF">/leju_claw_state</span>                                | <span style="color:#000000">kuavo_msgs/lejuClawState</span>        | state (int8[2], left/right gripper state, see details below),<br>data (kuavo_msgs/endEffectorData, contains gripper position, velocity, current)|
+| <b>Simulation Gripper Control</b>       | <span style="color:#1890FF">/gripper/command</span>                                | <span style="color:#000000">sensor_msgs/JointState</span>          | header (message header),<br>position (length 2, 0 open, 255 closed)|
+| <b>Simulation Gripper State</b>       | <span style="color:#1890FF">/gripper/state</span>                                  | <span style="color:#000000">sensor_msgs/JointState</span>          | header (message header),<br>position (length 2, 0 open, 0.8 closed)|
+| <b>Robot Position Command</b>     | <span style="color:#1890FF">/cmd_pose_world</span>                                 | <span style="color:#000000">geometry_msgs/Twist</span>             | linear.x/y/z (translation in world frame in m),<br>angular.x/y/z (rotation in world frame in radians)|
+
+<details>
+<summary>Detailed Field Descriptions</summary>
+
+- <b><span style="color:#000000">/cam_x/color/image_raw/compressed</span></b>、<b>/cam_x/depth/image_rect_raw/compressed</b>：
+  - header（std_msgs/Header）：Message header with timestamp, sequence number, frame information
+  - format（string）：Image encoding format
+  - data（uint8[]）：Image data
+
+- <b><span style="color:#000000">/kuavo_arm_traj</span></b>：
+  - header：Message header
+  - name：Joint name list, 14 joints named arm_joint_1~arm_joint_14
+  - position：Desired joint position, structure same as raw sensor data items 12-25
+
+- <b><span style="color:#000000">/sensors_data_raw</span></b>：
+  - sensor_time（time）：Timestamp
+  - joint_data（kuavo_msgs/jointData）：Joint data including position, velocity, acceleration, current
+    - Data order：
+      - First 12 items are lower limb motor data: 0~5 left leg (l_leg_roll, l_leg_yaw, l_leg_pitch, l_knee, l_foot_pitch, l_foot_roll), 6~11 right leg (r_leg_roll, r_leg_yaw, r_leg_pitch, r_knee, r_foot_pitch, r_foot_roll)
+      - Next 14 items are arm motor data: 12~18 left arm (l_arm_pitch, l_arm_roll, l_arm_yaw, l_forearm_pitch, l_hand_yaw, l_hand_pitch, l_hand_roll), 19~25 right arm (r_arm_pitch, r_arm_roll, r_arm_yaw, r_forearm_pitch, r_hand_yaw, r_hand_pitch, r_hand_roll)
+      - Last 2 items are head motor data: head_yaw, head_pitch
+    - Units: position in radians, velocity in radian/s, acceleration in radian/s², current in Amperes (A)
+  - imu_data（kuavo_msgs/imuData）：IMU data including gyroscope (gyro, unit rad/s), accelerometer (acc, unit m/s²), quat (IMU orientation)
+  - end_effector_data（kuavo_msgs/endEffectorData）：End effector data, currently unused
+
+- <b><span style="color:#000000">/control_robot_hand_position</span></b>：
+  - left_hand_position（float[6]）：Left hand 6D, each element [0,100], 0 fully open, 100 fully closed
+  - right_hand_position（float[6]）：Right hand 6D, same meaning as above
+
+- <b><span style="color:#000000">/dexhand/state</span></b>：
+  - name（string[12]）：12 joint names
+  - position（float[12]）：12 joint positions, first 6 for left hand, last 6 for right hand
+  - velocity（float[12]）：12 joint velocities, first 6 for left hand, last 6 for right hand
+  - effort（float[12]）：12 joint currents, first 6 for left hand, last 6 for right hand
+
+- <b><span style="color:#000000">/control_robot_leju_claw</span></b>：
+  - name（string[2]）：left_claw, right_claw
+  - position（float[2]）：Left/right gripper target position, [0,100], 0 open, 100 closed
+  - velocity（float[2]）：Target velocity, [0,100], default 50
+  - effort（float[2]）：Target current in A, default 1
+
+- <b><span style="color:#000000">/leju_claw_state</span></b>：
+  - state（int8[2]）：Left/right gripper state, meanings as follows:
+    - -1：Error (execution anomaly)
+    - 0：Unknown (default initialization state)
+    - 1：Moving
+    - 2：Reached target position
+    - 3：Object grasped
+  - data（kuavo_msgs/endEffectorData）：Contains gripper position, velocity, current, structure same as /control_robot_leju_claw
+
+- <b><span style="color:#000000">/gripper/command</span></b>（Simulation）：
+  - header：Message header
+  - position（float[2]）：Left/right gripper target position, [0,255], 0 open, 255 closed
+
+- <b><span style="color:#000000">/gripper/state</span></b>（Simulation）：
+  - header：Message header
+  - position（float[2]）：Left/right gripper current position, [0,0.8], 0 open, 0.8 closed
+
+- <b><span style="color:#000000">/cmd_pose_world（Simulation Task 4 only）</span></b>：
+  - linear.x/y/z（float）：Translation in world frame in meters
+  - angular.x/y/z（float）：Rotation in world frame in radians
+
+</details>
+
+#### HDF5 Data Format
 
 ```text
 <task_root>
@@ -296,9 +394,9 @@ Below is a detailed description of common directories and files in the dataset (
 └── metadata.json            # Collection metadata: device, end effector type, camera frame rate, joint info, etc.
 ```
 <a id="annotation-format"></a>
-### Annotation Format
+### Label Format
 
-Annotation information is stored in a JSON file with the same name as the data file. Example:
+Label information is stored in a JSON file with the same name as the data file. Example:
 
 ```json
 {

README_CN.md

@@ -195,61 +195,158 @@ LET数据集统计信息如下：
 
 ```text
 .
-├── real
-│   ├── Labelled
-│   │   ├── customer_check_in-P4-dex_hand
-│   │   ├── deliver_room_card-P4-dex_hand
-│   │   ├── deliver_water_bottle-P4-dex_hand
-│   │   ├── loading_of_large_tooling-P4-dex_hand
-│   │   ├── loading_of_small_tooling-P4-dex_hand
-│   │   ├── more_coil_sorting-P4-dex_hand
-│   │   ├── more_FMCG_loading-P4-dex_hand
-│   │   ├── more_goods_orders-P4-dex_hand
-│   │   ├── more_scan_code_for_weighing-P4-dex_hand
-│   │   ├── parts_offline-P4-dex_hand
-│   │   ├── quick_sort-P4-leju_claw
-│   │   ├── single_coil_sorting-P4-dex_hand
-│   │   ├── single_FMCG_loading-P4-dex_hand
-│   │   ├── single_goods_orders-P4-dex_hand
-│   │   ├── single_scan_code_for_weighing-P4-dex_hand
-│   │   ├── SPS_parts_grab-P4-leju_claw
-│   │   ├── SPS_parts_sorting-P4-dex_hand
-│   │   └── task_mass_check-P4-leju_claw
-│   └── Unlabelled
-│       ├── assembly_line_sorting-P4-leju_claw
-│       ├── deliver_room_card-P4-dex_hand
-│       ├── Express_delivery_sorting-P4-leju_claw
-│       ├── loading_of_large_tooling-P4-dex_hand
-│       ├── loading_of_small_tooling-P4-dex_hand
-│       ├── loading_of_small_tooling-P4-leju_claw
-│       ├── more_coil_sorting-P4-dex_hand
-│       ├── more_FMCG_loading-P4-dex_hand
-│       ├── more_goods_orders-P4-dex_hand
-│       ├── more_scan_code_for_weighing-P4-dex_hand
-│       ├── parts_offline-P4-dex_hand
-│       ├── Parts_off_line-P4-leju_claw
-│       ├── quick_sort-P4-leju_claw
-│       ├── single_coil_sorting-P4-dex_hand
-│       ├── single_FMCG_loading-P4-leju_claw
-│       ├── single_goods_orders-P4-dex_hand
-│       ├── SMT_tray_rack_blanking-P4-leju_claw
-│       ├── SPS_parts_grab-P4-leju_claw
-│       ├── SPS_parts_sorting-P4-dex_hand
-│       ├── SPS_parts_sorting-P4-leju_claw
-│       ├── Standardized_feeding_for_FMCG-P4-dex_hand
-│       └── task_mass_check-P4-leju_claw
-└── sim
-    ├── BottleFlip-P4-claw(Rq2f85)
-    ├── PackageWeighing-P4-claw(Rq2f85)
-    ├── SPS_parts_sorting-P4-claw(Rq2f85)
-    └── TargetPlacement-P4-claw(Rq2f85)
+├── hdf5
+│   ├── real
+│   │   ├── Labelled
+│   │   │   ├── customer_check_in-P4-dex_hand
+│   │   │   ├── deliver_room_card-P4-dex_hand
+│   │   │   ├── deliver_water_bottle-P4-dex_hand
+│   │   │   ├── loading_of_large_tooling-P4-dex_hand
+│   │   │   ├── loading_of_small_tooling-P4-dex_hand
+│   │   │   ├── more_coil_sorting-P4-dex_hand
+│   │   │   ├── more_FMCG_loading-P4-dex_hand
+│   │   │   ├── more_goods_orders-P4-dex_hand
+│   │   │   ├── more_scan_code_for_weighing-P4-dex_hand
+│   │   │   ├── parts_offline-P4-dex_hand
+│   │   │   ├── quick_sort-P4-leju_claw
+│   │   │   ├── rubbish_sorting-P4-leju_claw
+│   │   │   ├── shop_oversale-P4-leju_claw
+│   │   │   ├── single_coil_sorting-P4-dex_hand
+│   │   │   ├── single_FMCG_loading-P4-dex_hand
+│   │   │   ├── single_goods_orders-P4-dex_hand
+│   │   │   ├── single_scan_code_for_weighing-P4-dex_hand
+│   │   │   ├── SPS_parts_grab-P4-leju_claw
+│   │   │   ├── SPS_parts_sorting-P4-dex_hand
+│   │   │   └── task_mass_check-P4-leju_claw
+│   │   └── Unlabelled
+│   │       ├── assembly_line_sorting-P4-leju_claw
+│   │       ├── clothing_storage-P4-leju_claw
+│   │       ├── countertop_cleaning-P4-leju_claw
+│   │       ├── deliver_room_card-P4-dex_hand
+│   │       ├── desktop_decluttering-P4-leju_claw
+│   │       ├── drug_finishing-P4-leju_claw
+│   │       ├── express_delivery_sorting-P4-leju_claw
+│   │       ├── express_logistics_scenario-P4-leju_claw
+│   │       ├── loading_of_large_tooling-P4-dex_hand
+│   │       ├── loading_of_small_tooling-P4-dex_hand
+│   │       ├── loading_of_small_tooling-P4-leju_claw
+│   │       ├── more_coil_sorting-P4-dex_hand
+│   │       ├── more_FMCG_loading-P4-dex_hand
+│   │       ├── more_goods_orders-P4-dex_hand
+│   │       ├── more_goods_orders-P4-leju_claw
+│   │       ├── more_scan_code_for_weighing-P4-dex_hand
+│   │       ├── parts_offline-P4-dex_hand
+│   │       ├── parts_off_line-P4-leju_claw
+│   │       ├── quick_sort-P4-leju_claw
+│   │       ├── rubbish_sorting-P4-leju_claw
+│   │       ├── shop_oversale-P4-leju_claw
+│   │       ├── single_coil_sorting-P4-dex_hand
+│   │       ├── single_FMCG_loading-P4-leju_claw
+│   │       ├── single_goods_orders-P4-dex_hand
+│   │       ├── SMT_tray_rack_blanking-P4-leju_claw
+│   │       ├── SPS_parts_grab-P4-leju_claw
+│   │       ├── SPS_parts_sorting-P4-dex_hand
+│   │       ├── SPS_parts_sorting-P4-leju_claw
+│   │       ├── standardized_feeding_for_FMCG-P4-dex_hand
+│   │       └── task_mass_check-P4-leju_claw
+│   └── sim
+│       └── Unlabelled
+│           ├── bottle_flip-P4-claw(Rq2f85)
+│           ├── package_weighing-P4-claw(Rq2f85)
+│           ├── SPS_parts_sorting-P4-claw(Rq2f85)
+│           └── target_placement-P4-claw(Rq2f85)
+└── rosbag
+    ├── real
+    │   ├── Labelled  // 同HDF5任务结构
+    │   └── Unlabelled // 同HDF5任务结构
+    └── sim
+        └── Unlabelled // 同HDF5任务结构
 ```
 
 
 <a id="数据格式"></a>
 ### 数据格式
 
-下面给出数据集中常见目录与文件的详细说明（相机、关节、参数与元数据等）。
+#### ROSbag数据格式
+
+| 主题名称           | Topic 名称                                      | 消息类型                        | 主要字段/说明                                                                                   |
+|--------------------|------------------------------------------------|---------------------------------|--------------------------------------------------------------------------------------------------|
+| <b>相机 RGB 图像</b>      | <span style="color:#1890FF">/cam_x/color/image_raw/compressed</span>               | <span style="color:#000000">sensor_msgs/CompressedImage</span>     | x为h/l/r，分别为头/左腕/右腕相机；<br>header（消息头，含时间戳、序号、坐标系等），<br>format（图像编码格式），<br>data（图像数据）|
+| <b>相机深度图像</b>       | <span style="color:#1890FF">/cam_x/depth/image_rect_raw/compressed</span>          | <span style="color:#000000">sensor_msgs/CompressedImage</span>     | x为h/l/r，分别为头/左腕/右腕相机；<br>header（消息头），format（编码格式），data（图像数据）|
+| <b>手臂轨迹控制</b>       | <span style="color:#1890FF">/kuavo_arm_traj</span>                                 | <span style="color:#000000">sensor_msgs/JointState</span>          | header（消息头），<br>name（关节名称列表，14个关节，arm_joint_1~arm_joint_14），<br>position（关节目标位置，结构同下方原始传感器数据第12-25项）|
+| <b>原始传感器数据</b>     | <span style="color:#1890FF">/sensors_data_raw</span>                               | <span style="color:#000000">kuavo_msgs/sensorsData</span>          | sensor_time（时间戳），<br>joint_data（关节数据：位置、速度、加速度、电流），<br>imu_data（IMU数据：陀螺仪、加速度计、四元数），<br>end_effector_data（末端执行器数据，当前未用）|
+| <b>灵巧手位置（真机）</b> | <span style="color:#1890FF">/control_robot_hand_position</span>                    | <span style="color:#000000">kuavo_msgs/robotHandPosition</span>    | left_hand_position（左手6维，0张开，100闭合），<br>right_hand_position（右手6维，0张开，100闭合）|
+| <b>灵巧手状态（真机）</b> | <span style="color:#1890FF">/dexhand/state</span>                                  | <span style="color:#000000">sensor_msgs/JointState</span>          | name（12个关节名），<br>position（12个关节位置，前6为左手，后6为右手），<br>velocity（12个关节速度），<br>effort（12个关节电流）|
+| <b>夹爪控制（真机）</b>   | <span style="color:#1890FF">/control_robot_leju_claw</span>                        | <span style="color:#000000">kuavo_msgs/controlLejuClaw</span>      | name（长度2，left_claw/right_claw），<br>position（长度2，0张开，100闭合），<br>velocity（长度2，目标速度，默认50），<br>effort（长度2，目标电流，单位A，默认1）|
+| <b>夹爪状态（真机）</b>   | <span style="color:#1890FF">/leju_claw_state</span>                                | <span style="color:#000000">kuavo_msgs/lejuClawState</span>        | state（int8[2]，左/右爪状态，详见下方），<br>data（kuavo_msgs/endEffectorData，包含爪位置、速度、电流）|
+| <b>仿真夹爪控制</b>       | <span style="color:#1890FF">/gripper/command</span>                                | <span style="color:#000000">sensor_msgs/JointState</span>          | header（消息头），<br>position（长度2��0张开，255闭合）|
+| <b>仿真夹爪状态</b>       | <span style="color:#1890FF">/gripper/state</span>                                  | <span style="color:#000000">sensor_msgs/JointState</span>          | header（消息头），<br>position（长度2，0张开，0.8闭合）|
+| <b>机器人位置命令</b>     | <span style="color:#1890FF">/cmd_pose_world</span>                                 | <span style="color:#000000">geometry_msgs/Twist</span>             | linear.x/y/z（世界坐标系下的平移，单位m），<br>angular.x/y/z（世界坐标系下的旋转，单位弧度）|
+
+<details>
+<summary>详细字段说明</summary>
+
+- <b><span style="color:#000000">/cam_x/color/image_raw/compressed</span></b>、<b>/cam_x/depth/image_rect_raw/compressed</b>：
+  - header（std_msgs/Header）：消息头，包含时间戳、序号、坐标系等信息
+  - format（string）：图像编码格式
+  - data（uint8[]）：图像数据
+
+- <b><span style="color:#000000">/kuavo_arm_traj</span></b>：
+  - header：消息头
+  - name：关节名称列表，14个关节，命名为arm_joint_1~arm_joint_14
+  - position：关节目标位置，结构同下方原始传感器数据第12-25项
+
+- <b><span style="color:#000000">/sensors_data_raw</span></b>：
+  - sensor_time（time）：时间戳
+  - joint_data（kuavo_msgs/jointData）：关节数据，包括位置、速度、加速度、电流
+    - 数据顺序：
+      - 前12项为下肢电机数据：0~5为左腿（l_leg_roll, l_leg_yaw, l_leg_pitch, l_knee, l_foot_pitch, l_foot_roll），6~11为右腿（r_leg_roll, r_leg_yaw, r_leg_pitch, r_knee, r_foot_pitch, r_foot_roll）
+      - 后14项为手臂电机数据：12~18为左臂（l_arm_pitch, l_arm_roll, l_arm_yaw, l_forearm_pitch, l_hand_yaw, l_hand_pitch, l_hand_roll），19~25为右臂（r_arm_pitch, r_arm_roll, r_arm_yaw, r_forearm_pitch, r_hand_yaw, r_hand_pitch, r_hand_roll）
+      - 最后2项为头部电机数据：head_yaw, head_pitch
+    - 单位：位置为弧度，速度为弧度每秒 (radian/s)，弧度每平方秒 (radian/s²)，电流为安培（A）
+  - imu_data（kuavo_msgs/imuData）：IMU数据，包括陀螺仪（gyro，单位rad/s）、加速度计（acc，单位m/s²）、quat（IMU 方向）
+  - end_effector_data（kuavo_msgs/endEffectorData）：末端执行器数据，当前未用
+
+- <b><span style="color:#000000">/control_robot_hand_position</span></b>：
+  - left_hand_position（float[6]）：左手6维，每个元素[0,100]，0为完全张开，100为完全闭合
+  - right_hand_position（float[6]）：右手6维，含义同上
+
+- <b><span style="color:#000000">/dexhand/state</span></b>：
+  - name（string[12]）：12个关节名
+  - position（float[12]）：12个关节位置，前6为左手，后6为右手
+  - velocity（float[12]）：12个关节速度，前6为左手，后6为右手
+  - effort（float[12]）：12个关节电流，前6为左手，后6为右手
+
+- <b><span style="color:#000000">/control_robot_leju_claw</span></b>：
+  - name（string[2]）：left_claw, right_claw
+  - position（float[2]）：左右爪目标位置，[0,100]，0张开，100闭合
+  - velocity（float[2]）：目标速度，[0,100]，默认50
+  - effort（float[2]）：目标电流，单位A，默认1
+
+- <b><span style="color:#000000">/leju_claw_state</span></b>：
+  - state（int8[2]）：左/右爪状态，取值含义如下：
+    - -1：错误（执行异常）
+    - 0：未知（初始化默认状态）
+    - 1：移动中
+    - 2：到达目标位置
+    - 3：已抓取物体
+  - data（kuavo_msgs/endEffectorData）：包含爪的位置、速度、电流，结构同/control_robot_leju_claw
+
+- <b><span style="color:#000000">/gripper/command</span></b>（仿真）：
+  - header：消息头
+  - position（float[2]）：左右夹爪目标位置，[0,255]，0张开，255闭合
+
+- <b><span style="color:#000000">/gripper/state</span></b>（仿真）：
+  - header：消息头
+  - position（float[2]）：左右夹爪当前位置，[0,0.8]，0张开，0.8闭合
+
+- <b><span style="color:#000000">/cmd_pose_world（仅限模拟任务4）</span></b>：
+  - linear.x/y/z（float）：世界坐标系下的平移，单位米
+  - angular.x/y/z（float）：世界坐标系下的旋转，单位弧度
+
+</details>
+
+#### HDF5数据格式
 
 ```text
 <task_root>