modified README.md

README.md

@@ -295,8 +295,17 @@ LET dataset statistics are as follows:
   - 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)
+      - First 12 items are lower limb motor data:
+        - Indices 0–5: left leg  
+          (`l_leg_roll`, `l_leg_yaw`, `l_leg_pitch`, `l_knee`, `l_foot_pitch`, `l_foot_roll`)
+        - Indices 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:
+        - Indices 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`)
+        - Indices 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)

README_CN.md

@@ -300,9 +300,20 @@ LET数据集统计信息如下：
   - 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
+      - 前 12 项为下肢电机数据：
+        - 索引 0–5：左腿  
+          （`l_leg_roll`, `l_leg_yaw`, `l_leg_pitch`, `l_knee`, `l_foot_pitch`, `l_foot_roll`）
+        - 索引 6–11：右腿  
+          （`r_leg_roll`, `r_leg_yaw`, `r_leg_pitch`, `r_knee`, `r_foot_pitch`, `r_foot_roll`）
+
+      - 接下来的 14 项为手臂电机数据：
+        - 索引 12–18：左臂  
+          （`l_arm_pitch`, `l_arm_roll`, `l_arm_yaw`, `l_forearm_pitch`, `l_hand_yaw`, `l_hand_pitch`, `l_hand_roll`）
+        - 索引 19–25：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