Upload folder using huggingface_hub (part 15)

stack the blocks/session_20261024_141729_00031/left_hand/Metadata/metadata.json

@@ -0,0 +1,343 @@
+{
+  "project": "Tele-UMI",
+  "version": "v2",
+  "role": "raspberry_pi_capture",
+  "created_time_ns": 1792822658702661173,
+  "platform": {
+    "system": "Linux",
+    "release": "6.18.34+rpt-rpi-2712",
+    "machine": "aarch64"
+  },
+  "paths": {
+    "run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141729_00031/left_hand",
+    "rgb_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141729_00031/left_hand/RGB_Images",
+    "clamp_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141729_00031/left_hand/Clamp_Data",
+    "metadata_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141729_00031/left_hand/Metadata",
+    "video_path": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141729_00031/left_hand/RGB_Images/video.mp4",
+    "camera_timestamps_path": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141729_00031/left_hand/RGB_Images/timestamps.csv",
+    "clamp_data_path": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141729_00031/left_hand/Clamp_Data/clamp_data_tum.txt",
+    "metadata_path": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141729_00031/left_hand/Metadata/metadata.json",
+    "clamp_timebase_path": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141729_00031/left_hand/Clamp_Data/clamp_timebase.csv"
+  },
+  "config": {
+    "project_config_snapshot": {
+      "schema_version": 1,
+      "network": {
+        "pi_host": "192.168.157.33",
+        "left_pi_host": "192.168.157.33",
+        "right_pi_host": "",
+        "pi_port": 8765,
+        "left_pi_port": 8765,
+        "right_pi_port": 8765,
+        "pi_ssh_user": "zhang",
+        "pi_project_dir": "/home/zhang/TeleUMI",
+        "pi_data_root": "/home/zhang/TeleUMI/datasets"
+      },
+      "device_binding": {
+        "device_id": "left_pi_01",
+        "vive_tracker_serial": "LHR-26B06EF4"
+      },
+      "pi_standby": {
+        "enabled": true,
+        "sensor_hz": 10.0,
+        "i2c_bus": 1,
+        "i2c_address": "0x36",
+        "reference_seconds": 0.8,
+        "desktop_usb_exit": true,
+        "desktop_usb_poll_seconds": 0.5
+      },
+      "capture": {
+        "task_name": "task_1",
+        "safety_max_seconds": 180.0,
+        "vive_hz": 200.0,
+        "vive_init_seconds": 1.0,
+        "init_seconds": 0.8,
+        "sensor_hz": 60.0,
+        "as5600_queue_size": 600,
+        "loop_hz": 200.0,
+        "camera_type": "csi",
+        "camera_device": "0",
+        "camera_width": 1280,
+        "camera_height": 960,
+        "camera_fps": 40.0,
+        "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json",
+        "camera_fourcc": "mp4v",
+        "camera_first_frame_timeout_s": 5.0,
+        "preview_fps": 10.0,
+        "preview_rotation": "none",
+        "open_angle_deg": 45.791,
+        "gripper_open_mm": 85.0,
+        "scheduled_start_delay_s": 10.0,
+        "coordinated_arm_delay_s": 2.5,
+        "coordination_timeout_s": 90.0,
+        "scheduled_stop_delay_s": 1.0,
+        "capture_start_guard_s": 0.5,
+        "capture_stop_guard_s": 0.2,
+        "pause_chrony_during_capture": true,
+        "vive_bias": {
+          "window_s": 0.8,
+          "validation_guard_s": 0.2,
+          "min_span_s": 0.5,
+          "min_sample_ratio": 0.8,
+          "max_position_rms_m": 0.003,
+          "max_position_deviation_m": 0.008,
+          "max_orientation_rms_deg": 1.0,
+          "max_orientation_deviation_deg": 3.0
+        }
+      },
+      "timeouts": {
+        "pi_http_s": 5.0,
+        "pi_configure_total_s": 20.0,
+        "pi_preflight_s": 12.0,
+        "vive_preflight_s": 5.0,
+        "vive_pose_wait_s": 2.0,
+        "pi_finish_s": 30.0,
+        "vive_finish_s": 10.0,
+        "quality_check_s": 120.0,
+        "pi_data_copy_s": 300.0,
+        "robot_score_s": 300.0
+      },
+      "quality": {
+        "max_rms_offset_s": 0.005,
+        "max_last_offset_s": 0.005,
+        "max_clock_offset_s": 0.005,
+        "max_clock_drift_s": 0.001,
+        "min_vive_hz": 150.0,
+        "max_vive_hz": 220.0,
+        "max_vive_gap_s": 0.025,
+        "max_vive_drop_rate": 0.05,
+        "max_vive_position_jump_m": 0.1,
+        "max_vive_rotation_jump_deg": 30.0,
+        "max_vive_quaternion_norm_error": 0.02,
+        "max_zero_position_m": 0.005,
+        "max_zero_rotation_deg": 5.0,
+        "min_camera_fps": 38.0,
+        "max_camera_fps": 42.0,
+        "min_clamp_hz": 55.0,
+        "max_clamp_hz": 65.0,
+        "max_pi_duration_diff_s": 0.3,
+        "max_video_timestamp_diff_s": 0.3,
+        "max_joint_duration_diff_s": 0.06,
+        "max_joint_start_diff_s": 0.05,
+        "max_joint_end_diff_s": 0.05,
+        "max_vive_start_offset_s": 0.025,
+        "max_vive_end_offset_s": 0.025,
+        "max_clamp_start_offset_s": 0.025,
+        "max_clamp_end_offset_s": 0.025,
+        "max_camera_start_offset_s": 0.05,
+        "max_camera_end_offset_s": 0.05,
+        "max_camera_gap_s": 0.1,
+        "max_camera_drop_rate": 0.05,
+        "max_clamp_gap_s": 0.05,
+        "max_clamp_drop_rate": 0.05,
+        "max_clamp_saturation_ratio": 0.98,
+        "min_duration_s": 0.0,
+        "min_vive_samples": 1,
+        "min_camera_frames": 1,
+        "min_clamp_samples": 1,
+        "max_frame_count_diff": 3,
+        "video_probe_timeout_s": 10.0,
+        "video_decode_timeout_s": 120.0
+      },
+      "button_control": {
+        "enabled": true,
+        "role": "right",
+        "gpio_bcm": 17,
+        "debounce_ms": 50,
+        "hold_seconds": 1.0
+      },
+      "_source": {
+        "path": "/home/zhang/TeleUMI/config/teleumi_config.json"
+      }
+    },
+    "diagnostics": {
+      "stage": "idle",
+      "timing": {
+        "process_entry_time_ns": 1789138075381682820,
+        "module_import_start_time_ns": 1789138075419298982,
+        "import_log_utils_start_time_ns": 1789138075419300778,
+        "import_log_utils_end_time_ns": 1789138075421472430,
+        "import_as5600_start_time_ns": 1789138075421473467,
+        "import_as5600_end_time_ns": 1789138075463093231,
+        "import_pi_session_start_time_ns": 1789138075463094768,
+        "import_pi_session_end_time_ns": 1789138075592079142,
+        "import_usb_camera_start_time_ns": 1789138075592080271,
+        "import_usb_camera_end_time_ns": 1789138075633717924,
+        "configure_stdio_start_time_ns": 1789138075691289817,
+        "configure_stdio_end_time_ns": 1789138075691587407,
+        "capture_entry_time_ns": 1792822649244369162,
+        "validate_start_time_ns": 1792822650195145515,
+        "session_dir_create_start_time_ns": 1792822649245132485,
+        "session_dir_create_end_time_ns": 1792822649246048973,
+        "as5600_init_start_time_ns": 1792822649247062311,
+        "as5600_init_end_time_ns": 1792822649247945021,
+        "as5600_zero_start_time_ns": 1792822649249299318,
+        "as5600_zero_end_time_ns": 1792822650056430363,
+        "camera_init_start_time_ns": 1792822650058164229,
+        "camera_init_end_time_ns": 1792822650060319959,
+        "camera_start_start_time_ns": 1792822650061466888,
+        "camera_start_end_time_ns": 1792822650063125477,
+        "camera_first_frame_wait_start_time_ns": 1792822650064810899,
+        "camera_first_frame_wait_end_time_ns": 1792822650066456043,
+        "tactile_init_start_time_ns": null,
+        "tactile_init_end_time_ns": null,
+        "ready_time_ns": 1792822650067948134,
+        "armed_time_ns": 1792822650194116844,
+        "waiting_t0_time_ns": 1792822650196879047,
+        "recording_start_time_ns": 1792822652644065096,
+        "stop_request_time_ns": 1792822657849279491,
+        "finalized_time_ns": 1792822658702058404
+      },
+      "last_error": null,
+      "capture_start_time_ns": 1792822652643097808,
+      "capture_stop_time_ns": 1792822658697598012
+    },
+    "sensor": "as5600",
+    "hand_mode": "dual",
+    "hand_name": "left_hand",
+    "camera": true,
+    "camera_type": "csi",
+    "preview": true,
+    "init_seconds": 0.8,
+    "loop_hz": 200.0,
+    "dry_run": false,
+    "i2c_bus": 1,
+    "i2c_address": "0x36",
+    "sensor_hz": 60.0,
+    "as5600_queue_size": 600,
+    "open_angle_deg": 45.791,
+    "gripper_open_mm": 85.0,
+    "gripper_calibration_json": null,
+    "allow_as5600_status_warning": true,
+    "mapping": "初始化最大开度角度=100，闭合角度=0",
+    "reference_pose": "max_open",
+    "camera_device": "0",
+    "camera_width": 1280,
+    "camera_height": 960,
+    "camera_fps": 40.0,
+    "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json",
+    "camera_fourcc": "mp4v",
+    "camera_capture_pixel_format": "RGB888",
+    "camera_frame_color_order": "BGR",
+    "camera_color_pipeline": "Picamera2 RGB888 ndarray(BGR) -> OpenCV VideoWriter",
+    "preview_device": "/dev/fb0",
+    "preview_fps": 10.0,
+    "preview_rotation": "none",
+    "camera_first_frame_timeout_s": 5.0,
+    "sync_mode": "immediate",
+    "capture_start_time_ns": 1792822652643097808,
+    "capture_stop_time_ns": 1792822658697598012,
+    "effective_capture_stop_time_ns": 1792822658697598012,
+    "capture_start_guard_s": 0.5,
+    "stop_file": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141729_00031.stop",
+    "diagnostics_state_file": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141729_00031.diagnostics.json",
+    "deferred_arm": true,
+    "control_session_id": "session_20261024_141729_00031",
+    "control_generation": 31,
+    "data_plane_mode": "persistent",
+    "tactile": {
+      "enabled": false,
+      "sensors": {},
+      "device_id": 1,
+      "baudrate": 921600,
+      "point_count": 77,
+      "poll_hz": 80.0,
+      "response_timeout": 0.5,
+      "calibrate_on_start": true,
+      "calibration_delay_s": 2.0,
+      "init_seconds": 2.0,
+      "read_resultant": true,
+      "read_distributed": true,
+      "write_header": false,
+      "config_path": "./config/tactile.json",
+      "model": "PX6AX-GEN3-CP-M3025-Core",
+      "force_scale_n_per_lsb": 0.1,
+      "timestamp": "主机收到并解析串口响应后调用 time.time_ns()",
+      "hardware_synchronized": false,
+      "integration_mode": "pi_session_optional_sidecar",
+      "gate_time_source": "shared_capture_start_stop_time_ns",
+      "capture_start_time_ns": 1792822652643097808,
+      "capture_stop_time_ns": 1792822658697598012
+    },
+    "diagnostics_data": {
+      "monotonic_timestamp_enabled": true,
+      "corrected_time_enabled": false,
+      "monotonic_timestamp_role": "仅用于本机样本顺序、采样间隔和墙钟异常诊断，不参与 T0/Tstop 门控"
+    },
+    "capture_clock": {
+      "mode": "wall_clock",
+      "policy": "T0、Tstop 和采集数据时间戳统一直接使用 time.time_ns 墙钟。"
+    },
+    "reference_angle_deg": 103.62304687500001,
+    "reference_source": "max_open_init",
+    "zero_angle_deg": 103.62304687500001,
+    "zero_source": "max_open_init",
+    "init_total_samples": 48,
+    "init_bad_status_samples": 0,
+    "capture_start_policy": "camera_first_frame",
+    "camera_first_frame_wait_s": 6.371e-06,
+    "camera_first_frame_ready": true,
+    "effective_record_start_time_ns": 1792822652643975375,
+    "camera_frame_count": 242,
+    "camera_started_time_ns": 1792822650060314922,
+    "camera_stopped_time_ns": 1792822658700715385,
+    "camera_actual_fps": 28.007961093504235,
+    "camera_first_frame_time_ns": 1792822652653452581,
+    "camera_last_frame_time_ns": 1792822658679815499,
+    "camera_frame_timestamp_fps": 39.99095362812665,
+    "camera_diagnostics": {
+      "running": true,
+      "session_open": false,
+      "stream_first_frame_time_ns": 1792821838189512529,
+      "stream_last_frame_time_ns": 1792822658699750268,
+      "capture_count": 346,
+      "capture_error_count": 0,
+      "writer_count": 242,
+      "last_capture_error": null,
+      "camera_encoder": "opencv_video_writer",
+      "camera_rotation": "180",
+      "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json",
+      "camera_model": "ov5647",
+      "camera_profile": null,
+      "applied_camera_controls": {
+        "AeEnable": false,
+        "AwbEnable": false,
+        "Brightness": -0.05,
+        "Contrast": 1.15,
+        "Saturation": 1.0,
+        "Sharpness": 0.85,
+        "ExposureTime": 18000,
+        "AnalogueGain": 6.1,
+        "ColourGains": [
+          1.3,
+          1.55
+        ]
+      }
+    },
+    "camera_encoder": "opencv_video_writer",
+    "clamp_sample_count": 363,
+    "clamp_first_sample_time_ns": 1792822652653473191,
+    "clamp_last_sample_time_ns": 1792822658686795257,
+    "clamp_actual_hz": 60.00011205103798,
+    "clamp_value_min": 100.0,
+    "clamp_value_max": 100.0,
+    "as5600_diagnostics": {
+      "queue_size": 600,
+      "queue_depth": 0,
+      "max_queue_depth": 204,
+      "read_count": 753,
+      "read_error_count": 0,
+      "queue_overrun_count": 0,
+      "last_read_error": null
+    },
+    "main_loop_iterations": 1533
+  },
+  "notes": [
+    "树莓派端已经接入 AS5600、相机、HDMI 小屏预览和默认关闭的可选双路触觉旁路。",
+    "夹爪映射规则为：初始化最大开度角度=100，闭合角度=0；正式落盘仍保存 0 到 100 的 value。",
+    "VIVE Tracker 当前在 Windows 端采集；自动单条联合采集入口为 run_session_pc.py。",
+    "首条采集前通过网络执行一次 NTP 校时并停止 chronyd；后续采集网络只负责开始、停止和事后状态/质检。",
+    "下一阶段优先扩展批量采集入口、Pi 本地数据质量检查和工程化稳定性测试。",
+    "逐帧/逐样本 monotonic_ns 仅作为本地诊断字段保存；T0、Tstop 和正式对齐仍使用墙钟 time.time_ns。"
+  ]
+}

stack the blocks/session_20261024_141729_00031/left_hand/Metadata/pc_metadata.json

@@ -0,0 +1,101 @@
+{
+  "project": "Tele-UMI",
+  "version": "v2",
+  "role": "windows_vive_dual_capture",
+  "created_time_ns": 1792822649254815640,
+  "platform": {
+    "system": "Linux",
+    "release": "5.15.0-139-generic",
+    "machine": "x86_64"
+  },
+  "paths": {
+    "run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141729_00031/left_hand",
+    "merged_trajectory_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141729_00031/left_hand/Merged_Trajectory",
+    "metadata_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141729_00031/left_hand/Metadata",
+    "vive_txt_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141729_00031/left_hand/Merged_Trajectory/merged_trajectory.txt",
+    "raw_vive_txt_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141729_00031/left_hand/Merged_Trajectory/raw_vive_pose.txt",
+    "vive_txt_tmp_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141729_00031/left_hand/Merged_Trajectory/merged_trajectory.txt.part",
+    "raw_vive_txt_tmp_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141729_00031/left_hand/Merged_Trajectory/raw_vive_pose.txt.part",
+    "metadata_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141729_00031/left_hand/Metadata/pc_metadata.json"
+  },
+  "config": {
+    "hand_name": "left_hand",
+    "tracker_index": null,
+    "tracker_indices": [
+      null,
+      null
+    ],
+    "tracker_serial": "LHR-26B06EF4",
+    "tracker_serials": [
+      "LHR-26B06EF4",
+      "LHR-F47559F6"
+    ],
+    "vive_hz": 200.0,
+    "max_seconds": 180.0,
+    "stop_file": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141729_00031/control/stop_left_hand.flag",
+    "sync_mode": "deferred_arm",
+    "capture_clock": "wall_clock",
+    "capture_start_time_ns": 1792822652643097808,
+    "capture_stop_time_ns": 1792822658697598012,
+    "effective_capture_stop_time_ns": 1792822658697598012,
+    "capture_start_guard_s": 0.5,
+    "bias_mode": "first_sample_at_or_after_t0",
+    "output_format": "timestamp x y z qx qy qz qw",
+    "raw_output_format": "timestamp x y z qx qy qz qw",
+    "raw_vive_pose_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141729_00031/left_hand/Merged_Trajectory/raw_vive_pose.txt",
+    "coordinate_processing": "记录段首样本零点扣除、第二版位姿统一变换矩阵和四元数连续化",
+    "openvr_query_mode": "single_process_single_query_dual_tracker",
+    "tracker_index_used": 1,
+    "tracker_serial_used": "LHR-26B06EF4",
+    "vive_bias": {
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+      "y0": -0.7402520179748535,
+      "z0": -0.6216562986373901,
+      "qx0": 0.03949074184178718,
+      "qy0": 0.7332612844223796,
+      "qz0": -0.10207276981180641,
+      "qw0": 0.6710808593150108
+    },
+    "zero_reference_sample_ns": 1792822652651422048
+  },
+  "data_mark": "FORMAL",
+  "test_artifact": false,
+  "result": {
+    "sample_count": 1210,
+    "invalid_reads": 0,
+    "disconnected_reads": 0,
+    "invalid_pose_reads": 0,
+    "recording_disconnected_reads": 0,
+    "recording_invalid_pose_reads": 0,
+    "started_time_ns": 1792822652646262693,
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+    "stopped_time_ns": 1792822658701696257,
+    "effective_capture_stop_time_ns": 1792822658697598012,
+    "first_sample_time_ns": 1792822652651422048,
+    "last_sample_time_ns": 1792822658696285541,
+    "sample_duration_s": 6.044863493,
+    "sample_timestamp_hz": 200.00451646261848,
+    "artifacts": {
+      "trajectory": {
+        "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141729_00031/left_hand/Merged_Trajectory/merged_trajectory.txt",
+        "exists": true,
+        "size_bytes": 130579
+      },
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stack the blocks/session_20261024_141729_00031/right_hand/Metadata/metadata.json

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+  "notes": [
+    "树莓派端已经接入 AS5600、相机、HDMI 小屏预览和默认关闭的可选双路触觉旁路。",
+    "夹爪映射规则为：初始化最大开度角度=100，闭合角度=0；正式落盘仍保存 0 到 100 的 value。",
+    "VIVE Tracker 当前在 Windows 端采集；自动单条联合采集入口为 run_session_pc.py。",
+    "首条采集前通过网络执行一次 NTP 校时并停止 chronyd；后续采集网络只负责开始、停止和事后状态/质检。",
+    "下一阶段优先扩展批量采集入口、Pi 本地数据质量检查和工程化稳定性测试。",
+    "逐帧/逐样本 monotonic_ns 仅作为本地诊断字段保存；T0、Tstop 和正式对齐仍使用墙钟 time.time_ns。"
+  ]
+}

stack the blocks/session_20261024_141729_00031/right_hand/Metadata/pc_metadata.json

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stack the blocks/session_20261024_141741_00032/left_hand/Metadata/metadata.json

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+        "camera_width": 1280,
+        "camera_height": 960,
+        "camera_fps": 40.0,
+        "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json",
+        "camera_fourcc": "mp4v",
+        "camera_first_frame_timeout_s": 5.0,
+        "preview_fps": 10.0,
+        "preview_rotation": "none",
+        "open_angle_deg": 45.791,
+        "gripper_open_mm": 85.0,
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+        "coordinated_arm_delay_s": 2.5,
+        "coordination_timeout_s": 90.0,
+        "scheduled_stop_delay_s": 1.0,
+        "capture_start_guard_s": 0.5,
+        "capture_stop_guard_s": 0.2,
+        "pause_chrony_during_capture": true,
+        "vive_bias": {
+          "window_s": 0.8,
+          "validation_guard_s": 0.2,
+          "min_span_s": 0.5,
+          "min_sample_ratio": 0.8,
+          "max_position_rms_m": 0.003,
+          "max_position_deviation_m": 0.008,
+          "max_orientation_rms_deg": 1.0,
+          "max_orientation_deviation_deg": 3.0
+        }
+      },
+      "timeouts": {
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+        "pi_configure_total_s": 20.0,
+        "pi_preflight_s": 12.0,
+        "vive_preflight_s": 5.0,
+        "vive_pose_wait_s": 2.0,
+        "pi_finish_s": 30.0,
+        "vive_finish_s": 10.0,
+        "quality_check_s": 120.0,
+        "pi_data_copy_s": 300.0,
+        "robot_score_s": 300.0
+      },
+      "quality": {
+        "max_rms_offset_s": 0.005,
+        "max_last_offset_s": 0.005,
+        "max_clock_offset_s": 0.005,
+        "max_clock_drift_s": 0.001,
+        "min_vive_hz": 150.0,
+        "max_vive_hz": 220.0,
+        "max_vive_gap_s": 0.025,
+        "max_vive_drop_rate": 0.05,
+        "max_vive_position_jump_m": 0.1,
+        "max_vive_rotation_jump_deg": 30.0,
+        "max_vive_quaternion_norm_error": 0.02,
+        "max_zero_position_m": 0.005,
+        "max_zero_rotation_deg": 5.0,
+        "min_camera_fps": 38.0,
+        "max_camera_fps": 42.0,
+        "min_clamp_hz": 55.0,
+        "max_clamp_hz": 65.0,
+        "max_pi_duration_diff_s": 0.3,
+        "max_video_timestamp_diff_s": 0.3,
+        "max_joint_duration_diff_s": 0.06,
+        "max_joint_start_diff_s": 0.05,
+        "max_joint_end_diff_s": 0.05,
+        "max_vive_start_offset_s": 0.025,
+        "max_vive_end_offset_s": 0.025,
+        "max_clamp_start_offset_s": 0.025,
+        "max_clamp_end_offset_s": 0.025,
+        "max_camera_start_offset_s": 0.05,
+        "max_camera_end_offset_s": 0.05,
+        "max_camera_gap_s": 0.1,
+        "max_camera_drop_rate": 0.05,
+        "max_clamp_gap_s": 0.05,
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+        "min_vive_samples": 1,
+        "min_camera_frames": 1,
+        "min_clamp_samples": 1,
+        "max_frame_count_diff": 3,
+        "video_probe_timeout_s": 10.0,
+        "video_decode_timeout_s": 120.0
+      },
+      "button_control": {
+        "enabled": true,
+        "role": "right",
+        "gpio_bcm": 17,
+        "debounce_ms": 50,
+        "hold_seconds": 1.0
+      },
+      "_source": {
+        "path": "/home/zhang/TeleUMI/config/teleumi_config.json"
+      }
+    },
+    "diagnostics": {
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+        "import_as5600_start_time_ns": 1789138075421473467,
+        "import_as5600_end_time_ns": 1789138075463093231,
+        "import_pi_session_start_time_ns": 1789138075463094768,
+        "import_pi_session_end_time_ns": 1789138075592079142,
+        "import_usb_camera_start_time_ns": 1789138075592080271,
+        "import_usb_camera_end_time_ns": 1789138075633717924,
+        "configure_stdio_start_time_ns": 1789138075691289817,
+        "configure_stdio_end_time_ns": 1789138075691587407,
+        "capture_entry_time_ns": 1792822662046792207,
+        "validate_start_time_ns": 1792822662966697864,
+        "session_dir_create_start_time_ns": 1792822662048443833,
+        "session_dir_create_end_time_ns": 1792822662049359358,
+        "as5600_init_start_time_ns": 1792822662050469898,
+        "as5600_init_end_time_ns": 1792822662051305757,
+        "as5600_zero_start_time_ns": 1792822662053014827,
+        "as5600_zero_end_time_ns": 1792822662858732039,
+        "camera_init_start_time_ns": 1792822662861695333,
+        "camera_init_end_time_ns": 1792822662866978206,
+        "camera_start_start_time_ns": 1792822662867859176,
+        "camera_start_end_time_ns": 1792822662869767521,
+        "camera_first_frame_wait_start_time_ns": 1792822662871675828,
+        "camera_first_frame_wait_end_time_ns": 1792822662874971988,
+        "tactile_init_start_time_ns": null,
+        "tactile_init_end_time_ns": null,
+        "ready_time_ns": 1792822662876429468,
+        "armed_time_ns": 1792822662965094812,
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+        "recording_start_time_ns": 1792822665440822606,
+        "stop_request_time_ns": 1792822670001381677,
+        "finalized_time_ns": 1792822670817181957
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+      "last_error": null,
+      "capture_start_time_ns": 1792822665437984945,
+      "capture_stop_time_ns": 1792822670811612769
+    },
+    "sensor": "as5600",
+    "hand_mode": "dual",
+    "hand_name": "left_hand",
+    "camera": true,
+    "camera_type": "csi",
+    "preview": true,
+    "init_seconds": 0.8,
+    "loop_hz": 200.0,
+    "dry_run": false,
+    "i2c_bus": 1,
+    "i2c_address": "0x36",
+    "sensor_hz": 60.0,
+    "as5600_queue_size": 600,
+    "open_angle_deg": 45.791,
+    "gripper_open_mm": 85.0,
+    "gripper_calibration_json": null,
+    "allow_as5600_status_warning": true,
+    "mapping": "初始化最大开度角度=100，闭合角度=0",
+    "reference_pose": "max_open",
+    "camera_device": "0",
+    "camera_width": 1280,
+    "camera_height": 960,
+    "camera_fps": 40.0,
+    "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json",
+    "camera_fourcc": "mp4v",
+    "camera_capture_pixel_format": "RGB888",
+    "camera_frame_color_order": "BGR",
+    "camera_color_pipeline": "Picamera2 RGB888 ndarray(BGR) -> OpenCV VideoWriter",
+    "preview_device": "/dev/fb0",
+    "preview_fps": 10.0,
+    "preview_rotation": "none",
+    "camera_first_frame_timeout_s": 5.0,
+    "sync_mode": "immediate",
+    "capture_start_time_ns": 1792822665437984945,
+    "capture_stop_time_ns": 1792822670811612769,
+    "effective_capture_stop_time_ns": 1792822670811612769,
+    "capture_start_guard_s": 0.5,
+    "stop_file": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141741_00032.stop",
+    "diagnostics_state_file": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141741_00032.diagnostics.json",
+    "deferred_arm": true,
+    "control_session_id": "session_20261024_141741_00032",
+    "control_generation": 32,
+    "data_plane_mode": "persistent",
+    "tactile": {
+      "enabled": false,
+      "sensors": {},
+      "device_id": 1,
+      "baudrate": 921600,
+      "point_count": 77,
+      "poll_hz": 80.0,
+      "response_timeout": 0.5,
+      "calibrate_on_start": true,
+      "calibration_delay_s": 2.0,
+      "init_seconds": 2.0,
+      "read_resultant": true,
+      "read_distributed": true,
+      "write_header": false,
+      "config_path": "./config/tactile.json",
+      "model": "PX6AX-GEN3-CP-M3025-Core",
+      "force_scale_n_per_lsb": 0.1,
+      "timestamp": "主机收到并解析串口响应后调用 time.time_ns()",
+      "hardware_synchronized": false,
+      "integration_mode": "pi_session_optional_sidecar",
+      "gate_time_source": "shared_capture_start_stop_time_ns",
+      "capture_start_time_ns": 1792822665437984945,
+      "capture_stop_time_ns": 1792822670811612769
+    },
+    "diagnostics_data": {
+      "monotonic_timestamp_enabled": true,
+      "corrected_time_enabled": false,
+      "monotonic_timestamp_role": "仅用于本机样本顺序、采样间隔和墙钟异常诊断，不参与 T0/Tstop 门控"
+    },
+    "capture_clock": {
+      "mode": "wall_clock",
+      "policy": "T0、Tstop 和采集数据时间戳统一直接使用 time.time_ns 墙钟。"
+    },
+    "reference_angle_deg": 105.11718749999999,
+    "reference_source": "max_open_init",
+    "zero_angle_deg": 105.11718749999999,
+    "zero_source": "max_open_init",
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+    "capture_start_policy": "camera_first_frame",
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+    "camera_frame_timestamp_fps": 40.016673646431606,
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+      "last_capture_error": null,
+      "camera_encoder": "opencv_video_writer",
+      "camera_rotation": "180",
+      "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json",
+      "camera_model": "ov5647",
+      "camera_profile": null,
+      "applied_camera_controls": {
+        "AeEnable": false,
+        "AwbEnable": false,
+        "Brightness": -0.05,
+        "Contrast": 1.15,
+        "Saturation": 1.0,
+        "Sharpness": 0.85,
+        "ExposureTime": 18000,
+        "AnalogueGain": 6.1,
+        "ColourGains": [
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+          1.55
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+    "as5600_diagnostics": {
+      "queue_size": 600,
+      "queue_depth": 0,
+      "max_queue_depth": 204,
+      "read_count": 727,
+      "read_error_count": 0,
+      "queue_overrun_count": 0,
+      "last_read_error": null
+    },
+    "main_loop_iterations": 1411
+  },
+  "notes": [
+    "树莓派端已经接入 AS5600、相机、HDMI 小屏预览和默认关闭的可选双路触觉旁路。",
+    "夹爪映射规则为：初始化最大开度角度=100，闭合角度=0；正式落盘仍保存 0 到 100 的 value。",
+    "VIVE Tracker 当前在 Windows 端采集；自动单条联合采集入口为 run_session_pc.py。",
+    "首条采集前通过网络执行一次 NTP 校时并停止 chronyd；后续采集网络只负责开始、停止和事后状态/质检。",
+    "下一阶段优先扩展批量采集入口、Pi 本地数据质量检查和工程化稳定性测试。",
+    "逐帧/逐样本 monotonic_ns 仅作为本地诊断字段保存；T0、Tstop 和正式对齐仍使用墙钟 time.time_ns。"
+  ]
+}

stack the blocks/session_20261024_141741_00032/left_hand/Metadata/pc_metadata.json

@@ -0,0 +1,101 @@
+{
+  "project": "Tele-UMI",
+  "version": "v2",
+  "role": "windows_vive_dual_capture",
+  "created_time_ns": 1792822662020660325,
+  "platform": {
+    "system": "Linux",
+    "release": "5.15.0-139-generic",
+    "machine": "x86_64"
+  },
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+    "merged_trajectory_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141741_00032/left_hand/Merged_Trajectory",
+    "metadata_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141741_00032/left_hand/Metadata",
+    "vive_txt_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141741_00032/left_hand/Merged_Trajectory/merged_trajectory.txt",
+    "raw_vive_txt_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141741_00032/left_hand/Merged_Trajectory/raw_vive_pose.txt",
+    "vive_txt_tmp_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141741_00032/left_hand/Merged_Trajectory/merged_trajectory.txt.part",
+    "raw_vive_txt_tmp_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141741_00032/left_hand/Merged_Trajectory/raw_vive_pose.txt.part",
+    "metadata_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141741_00032/left_hand/Metadata/pc_metadata.json"
+  },
+  "config": {
+    "hand_name": "left_hand",
+    "tracker_index": null,
+    "tracker_indices": [
+      null,
+      null
+    ],
+    "tracker_serial": "LHR-26B06EF4",
+    "tracker_serials": [
+      "LHR-26B06EF4",
+      "LHR-F47559F6"
+    ],
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+    "max_seconds": 180.0,
+    "stop_file": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141741_00032/control/stop_left_hand.flag",
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+    "output_format": "timestamp x y z qx qy qz qw",
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+}

stack the blocks/session_20261024_141741_00032/left_hand/RGB_Images/timestamps.csv

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stack the blocks/session_20261024_141741_00032/right_hand/Clamp_Data/clamp_timebase.csv

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stack the blocks/session_20261024_141741_00032/right_hand/Metadata/metadata.json

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+{
+  "project": "Tele-UMI",
+  "version": "v2",
+  "role": "raspberry_pi_capture",
+  "created_time_ns": 1792822670822335521,
+  "platform": {
+    "system": "Linux",
+    "release": "6.12.75+rpt-rpi-2712",
+    "machine": "aarch64"
+  },
+  "paths": {
+    "run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141741_00032/right_hand",
+    "rgb_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141741_00032/right_hand/RGB_Images",
+    "clamp_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141741_00032/right_hand/Clamp_Data",
+    "metadata_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141741_00032/right_hand/Metadata",
+    "video_path": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141741_00032/right_hand/RGB_Images/video.mp4",
+    "camera_timestamps_path": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141741_00032/right_hand/RGB_Images/timestamps.csv",
+    "clamp_data_path": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141741_00032/right_hand/Clamp_Data/clamp_data_tum.txt",
+    "metadata_path": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141741_00032/right_hand/Metadata/metadata.json",
+    "clamp_timebase_path": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141741_00032/right_hand/Clamp_Data/clamp_timebase.csv"
+  },
+  "config": {
+    "project_config_snapshot": {
+      "schema_version": 1,
+      "network": {
+        "pi_host": "192.168.157.6",
+        "left_pi_host": "192.168.157.6",
+        "right_pi_host": "192.168.157.66",
+        "pi_port": 8765,
+        "left_pi_port": 8765,
+        "right_pi_port": 8765,
+        "pi_ssh_user": "zhang",
+        "pi_project_dir": "/home/zhang/TeleUMI",
+        "pi_data_root": "/home/zhang/teleumi-v2/datasets"
+      },
+      "device_binding": {
+        "device_id": "right_pi_01",
+        "vive_tracker_serial": "LHR-F47559F6"
+      },
+      "pi_standby": {
+        "enabled": true,
+        "sensor_hz": 10.0,
+        "i2c_bus": 1,
+        "i2c_address": "0x36",
+        "reference_seconds": 0.8,
+        "desktop_usb_exit": true,
+        "desktop_usb_poll_seconds": 0.5
+      },
+      "capture": {
+        "task_name": "task_1",
+        "safety_max_seconds": 180.0,
+        "vive_hz": 200.0,
+        "vive_init_seconds": 1.0,
+        "init_seconds": 0.8,
+        "sensor_hz": 60.0,
+        "as5600_queue_size": 600,
+        "loop_hz": 200.0,
+        "camera_type": "csi",
+        "camera_device": "0",
+        "camera_width": 1280,
+        "camera_height": 960,
+        "camera_fps": 40.0,
+        "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json",
+        "camera_fourcc": "mp4v",
+        "camera_first_frame_timeout_s": 5.0,
+        "preview_fps": 10.0,
+        "preview_rotation": "none",
+        "open_angle_deg": 45.791,
+        "gripper_open_mm": 85.0,
+        "scheduled_start_delay_s": 10.0,
+        "coordinated_arm_delay_s": 2.5,
+        "coordination_timeout_s": 90.0,
+        "scheduled_stop_delay_s": 1.0,
+        "capture_start_guard_s": 0.5,
+        "capture_stop_guard_s": 0.2,
+        "pause_chrony_during_capture": true,
+        "vive_bias": {
+          "window_s": 0.8,
+          "validation_guard_s": 0.2,
+          "min_span_s": 0.5,
+          "min_sample_ratio": 0.8,
+          "max_position_rms_m": 0.003,
+          "max_position_deviation_m": 0.008,
+          "max_orientation_rms_deg": 1.0,
+          "max_orientation_deviation_deg": 3.0
+        }
+      },
+      "timeouts": {
+        "pi_http_s": 5.0,
+        "pi_configure_total_s": 20.0,
+        "pi_preflight_s": 12.0,
+        "vive_preflight_s": 5.0,
+        "vive_pose_wait_s": 2.0,
+        "pi_finish_s": 30.0,
+        "vive_finish_s": 10.0,
+        "quality_check_s": 120.0,
+        "pi_data_copy_s": 300.0,
+        "robot_score_s": 300.0
+      },
+      "quality": {
+        "max_rms_offset_s": 0.005,
+        "max_last_offset_s": 0.005,
+        "max_clock_offset_s": 0.005,
+        "max_clock_drift_s": 0.001,
+        "min_vive_hz": 150.0,
+        "max_vive_hz": 220.0,
+        "max_vive_gap_s": 0.025,
+        "max_vive_drop_rate": 0.05,
+        "max_vive_position_jump_m": 0.1,
+        "max_vive_rotation_jump_deg": 30.0,
+        "max_vive_quaternion_norm_error": 0.02,
+        "max_zero_position_m": 0.005,
+        "max_zero_rotation_deg": 5.0,
+        "min_camera_fps": 38.0,
+        "max_camera_fps": 42.0,
+        "min_clamp_hz": 55.0,
+        "max_clamp_hz": 65.0,
+        "max_pi_duration_diff_s": 0.3,
+        "max_video_timestamp_diff_s": 0.3,
+        "max_joint_duration_diff_s": 0.06,
+        "max_joint_start_diff_s": 0.05,
+        "max_joint_end_diff_s": 0.05,
+        "max_vive_start_offset_s": 0.025,
+        "max_vive_end_offset_s": 0.025,
+        "max_clamp_start_offset_s": 0.025,
+        "max_clamp_end_offset_s": 0.025,
+        "max_camera_start_offset_s": 0.05,
+        "max_camera_end_offset_s": 0.05,
+        "max_camera_gap_s": 0.1,
+        "max_camera_drop_rate": 0.05,
+        "max_clamp_gap_s": 0.05,
+        "max_clamp_drop_rate": 0.05,
+        "max_clamp_saturation_ratio": 0.98,
+        "min_duration_s": 0.0,
+        "min_vive_samples": 1,
+        "min_camera_frames": 1,
+        "min_clamp_samples": 1,
+        "max_frame_count_diff": 3,
+        "video_probe_timeout_s": 10.0,
+        "video_decode_timeout_s": 120.0
+      },
+      "button_control": {
+        "enabled": true,
+        "role": "right",
+        "gpio_bcm": 17,
+        "debounce_ms": 50,
+        "hold_seconds": 1.0
+      },
+      "_source": {
+        "path": "/home/zhang/TeleUMI/config/teleumi_config.json"
+      }
+    },
+    "diagnostics": {
+      "stage": "idle",
+      "timing": {
+        "process_entry_time_ns": 1781523807487404620,
+        "module_import_start_time_ns": 1781523807537520375,
+        "import_log_utils_start_time_ns": 1781523807537521856,
+        "import_log_utils_end_time_ns": 1781523807539638378,
+        "import_as5600_start_time_ns": 1781523807539639323,
+        "import_as5600_end_time_ns": 1781523807577323332,
+        "import_pi_session_start_time_ns": 1781523807577324925,
+        "import_pi_session_end_time_ns": 1781523807659944282,
+        "import_usb_camera_start_time_ns": 1781523807659945522,
+        "import_usb_camera_end_time_ns": 1781523807712374279,
+        "configure_stdio_start_time_ns": 1781523807757909918,
+        "configure_stdio_end_time_ns": 1781523807758200138,
+        "capture_entry_time_ns": 1792822662002854051,
+        "validate_start_time_ns": 1792822662966298199,
+        "session_dir_create_start_time_ns": 1792822662003683303,
+        "session_dir_create_end_time_ns": 1792822662004717831,
+        "as5600_init_start_time_ns": 1792822662005794248,
+        "as5600_init_end_time_ns": 1792822662006648314,
+        "as5600_zero_start_time_ns": 1792822662008060783,
+        "as5600_zero_end_time_ns": 1792822662814557512,
+        "camera_init_start_time_ns": 1792822662816987657,
+        "camera_init_end_time_ns": 1792822662819959613,
+        "camera_start_start_time_ns": 1792822662822684644,
+        "camera_start_end_time_ns": 1792822662825761598,
+        "camera_first_frame_wait_start_time_ns": 1792822662829784932,
+        "camera_first_frame_wait_end_time_ns": 1792822662831424585,
+        "tactile_init_start_time_ns": null,
+        "tactile_init_end_time_ns": null,
+        "ready_time_ns": 1792822662832933145,
+        "armed_time_ns": 1792822662962505640,
+        "waiting_t0_time_ns": 1792822662967734890,
+        "recording_start_time_ns": 1792822665439041210,
+        "stop_request_time_ns": 1792822669922744694,
+        "finalized_time_ns": 1792822670821260327
+      },
+      "last_error": null,
+      "capture_start_time_ns": 1792822665437984945,
+      "capture_stop_time_ns": 1792822670811612769
+    },
+    "sensor": "as5600",
+    "hand_mode": "dual",
+    "hand_name": "right_hand",
+    "camera": true,
+    "camera_type": "csi",
+    "preview": true,
+    "init_seconds": 0.8,
+    "loop_hz": 200.0,
+    "dry_run": false,
+    "i2c_bus": 1,
+    "i2c_address": "0x36",
+    "sensor_hz": 60.0,
+    "as5600_queue_size": 600,
+    "open_angle_deg": 45.791,
+    "gripper_open_mm": 85.0,
+    "gripper_calibration_json": null,
+    "allow_as5600_status_warning": true,
+    "mapping": "初始化最大开度角度=100，闭合角度=0",
+    "reference_pose": "max_open",
+    "camera_device": "0",
+    "camera_width": 1280,
+    "camera_height": 960,
+    "camera_fps": 40.0,
+    "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json",
+    "camera_fourcc": "mp4v",
+    "camera_capture_pixel_format": "RGB888",
+    "camera_frame_color_order": "BGR",
+    "camera_color_pipeline": "Picamera2 RGB888 ndarray(BGR) -> OpenCV VideoWriter",
+    "preview_device": "/dev/fb0",
+    "preview_fps": 10.0,
+    "preview_rotation": "none",
+    "camera_first_frame_timeout_s": 5.0,
+    "sync_mode": "immediate",
+    "capture_start_time_ns": 1792822665437984945,
+    "capture_stop_time_ns": 1792822670811612769,
+    "effective_capture_stop_time_ns": 1792822670811612769,
+    "capture_start_guard_s": 0.5,
+    "stop_file": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141741_00032.stop",
+    "diagnostics_state_file": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141741_00032.diagnostics.json",
+    "deferred_arm": true,
+    "control_session_id": "session_20261024_141741_00032",
+    "control_generation": 32,
+    "data_plane_mode": "persistent",
+    "tactile": {
+      "enabled": false,
+      "sensors": {},
+      "device_id": 1,
+      "baudrate": 921600,
+      "point_count": 77,
+      "poll_hz": 80.0,
+      "response_timeout": 0.5,
+      "calibrate_on_start": true,
+      "calibration_delay_s": 2.0,
+      "init_seconds": 2.0,
+      "read_resultant": true,
+      "read_distributed": true,
+      "write_header": false,
+      "config_path": "./config/tactile.json",
+      "model": "PX6AX-GEN3-CP-M3025-Core",
+      "force_scale_n_per_lsb": 0.1,
+      "timestamp": "主机收到并解析串口响应后调用 time.time_ns()",
+      "hardware_synchronized": false,
+      "integration_mode": "pi_session_optional_sidecar",
+      "gate_time_source": "shared_capture_start_stop_time_ns",
+      "capture_start_time_ns": 1792822665437984945,
+      "capture_stop_time_ns": 1792822670811612769
+    },
+    "diagnostics_data": {
+      "monotonic_timestamp_enabled": true,
+      "corrected_time_enabled": false,
+      "monotonic_timestamp_role": "仅用于本机样本顺序、采样间隔和墙钟异常诊断，不参与 T0/Tstop 门控"
+    },
+    "capture_clock": {
+      "mode": "wall_clock",
+      "policy": "T0、Tstop 和采集数据时间戳统一直接使用 time.time_ns 墙钟。"
+    },
+    "reference_angle_deg": 274.5703125,
+    "reference_source": "max_open_init",
+    "zero_angle_deg": 274.5703125,
+    "zero_source": "max_open_init",
+    "init_total_samples": 48,
+    "init_bad_status_samples": 0,
+    "capture_start_policy": "camera_first_frame",
+    "camera_first_frame_wait_s": 7.019e-06,
+    "camera_first_frame_ready": true,
+    "effective_record_start_time_ns": 1792822665438913711,
+    "camera_frame_count": 216,
+    "camera_started_time_ns": 1792822662819954187,
+    "camera_stopped_time_ns": 1792822670820112615,
+    "camera_actual_fps": 26.99946531608861,
+    "camera_first_frame_time_ns": 1792822665438022460,
+    "camera_last_frame_time_ns": 1792822670809892761,
+    "camera_frame_timestamp_fps": 40.02330435267149,
+    "camera_diagnostics": {
+      "running": true,
+      "session_open": false,
+      "stream_first_frame_time_ns": 1792821892880721174,
+      "stream_last_frame_time_ns": 1792822670809892761,
+      "capture_count": 320,
+      "capture_error_count": 0,
+      "writer_count": 216,
+      "last_capture_error": null,
+      "camera_encoder": "opencv_video_writer",
+      "camera_rotation": "180",
+      "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json",
+      "camera_model": "ov5647",
+      "camera_profile": null,
+      "applied_camera_controls": {
+        "AeEnable": false,
+        "AwbEnable": false,
+        "Brightness": -0.05,
+        "Contrast": 1.15,
+        "Saturation": 1.0,
+        "Sharpness": 0.85,
+        "ExposureTime": 18000,
+        "AnalogueGain": 6.1,
+        "ColourGains": [
+          1.3,
+          1.55
+        ]
+      }
+    },
+    "camera_encoder": "opencv_video_writer",
+    "clamp_sample_count": 323,
+    "clamp_first_sample_time_ns": 1792822665443539577,
+    "clamp_last_sample_time_ns": 1792822670810225499,
+    "clamp_actual_hz": 59.99978472375376,
+    "clamp_value_min": 65.25910522810159,
+    "clamp_value_max": 100.0,
+    "as5600_diagnostics": {
+      "queue_size": 600,
+      "queue_depth": 0,
+      "max_queue_depth": 206,
+      "read_count": 727,
+      "read_error_count": 0,
+      "queue_overrun_count": 0,
+      "last_read_error": null
+    },
+    "main_loop_iterations": 1425
+  },
+  "notes": [
+    "树莓派端已经接入 AS5600、相机、HDMI 小屏预览和默认关闭的可选双路触觉旁路。",
+    "夹爪映射规则为：初始化最大开度角度=100，闭合角度=0；正式落盘仍保存 0 到 100 的 value。",
+    "VIVE Tracker 当前在 Windows 端采集；自动单条联合采集入口为 run_session_pc.py。",
+    "首条采集前通过网络执行一次 NTP 校时并停止 chronyd；后续采集网络只负责开始、停止和事后状态/质检。",
+    "下一阶段优先扩展批量采集入口、Pi 本地数据质量检查和工程化稳定性测试。",
+    "逐帧/逐样本 monotonic_ns 仅作为本地诊断字段保存；T0、Tstop 和正式对齐仍使用墙钟 time.time_ns。"
+  ]
+}

stack the blocks/session_20261024_141741_00032/right_hand/Metadata/pc_metadata.json

@@ -0,0 +1,101 @@
+{
+  "project": "Tele-UMI",
+  "version": "v2",
+  "role": "windows_vive_dual_capture",
+  "created_time_ns": 1792822662020674862,
+  "platform": {
+    "system": "Linux",
+    "release": "5.15.0-139-generic",
+    "machine": "x86_64"
+  },
+  "paths": {
+    "run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141741_00032/right_hand",
+    "merged_trajectory_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141741_00032/right_hand/Merged_Trajectory",
+    "metadata_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141741_00032/right_hand/Metadata",
+    "vive_txt_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141741_00032/right_hand/Merged_Trajectory/merged_trajectory.txt",
+    "raw_vive_txt_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141741_00032/right_hand/Merged_Trajectory/raw_vive_pose.txt",
+    "vive_txt_tmp_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141741_00032/right_hand/Merged_Trajectory/merged_trajectory.txt.part",
+    "raw_vive_txt_tmp_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141741_00032/right_hand/Merged_Trajectory/raw_vive_pose.txt.part",
+    "metadata_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141741_00032/right_hand/Metadata/pc_metadata.json"
+  },
+  "config": {
+    "hand_name": "right_hand",
+    "tracker_index": null,
+    "tracker_indices": [
+      null,
+      null
+    ],
+    "tracker_serial": "LHR-F47559F6",
+    "tracker_serials": [
+      "LHR-26B06EF4",
+      "LHR-F47559F6"
+    ],
+    "vive_hz": 200.0,
+    "max_seconds": 180.0,
+    "stop_file": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141741_00032/control/stop_left_hand.flag",
+    "sync_mode": "deferred_arm",
+    "capture_clock": "wall_clock",
+    "capture_start_time_ns": 1792822665437984945,
+    "capture_stop_time_ns": 1792822670811612769,
+    "effective_capture_stop_time_ns": 1792822670811612769,
+    "capture_start_guard_s": 0.5,
+    "bias_mode": "first_sample_at_or_after_t0",
+    "output_format": "timestamp x y z qx qy qz qw",
+    "raw_output_format": "timestamp x y z qx qy qz qw",
+    "raw_vive_pose_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141741_00032/right_hand/Merged_Trajectory/raw_vive_pose.txt",
+    "coordinate_processing": "记录段首样本零点扣除、第二版位姿统一变换矩阵和四元数连续化",
+    "openvr_query_mode": "single_process_single_query_dual_tracker",
+    "tracker_index_used": 2,
+    "tracker_serial_used": "LHR-F47559F6",
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+  "data_mark": "FORMAL",
+  "test_artifact": false,
+  "result": {
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+    "disconnected_reads": 0,
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+    "last_sample_time_ns": 1792822670808860767,
+    "sample_duration_s": 5.36473464,
+    "sample_timestamp_hz": 200.00989275398717,
+    "artifacts": {
+      "trajectory": {
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+        "exists": true,
+        "size_bytes": 117348
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stack the blocks/session_20261024_141753_00033/left_hand/Metadata/metadata.json

@@ -0,0 +1,343 @@
+{
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+        "import_usb_camera_start_time_ns": 1789138075592080271,
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+        "tactile_init_end_time_ns": null,
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+      "capture_start_time_ns": 1792822676955864567,
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+    "sensor": "as5600",
+    "hand_mode": "dual",
+    "hand_name": "left_hand",
+    "camera": true,
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+    "preview": true,
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+    "gripper_open_mm": 85.0,
+    "gripper_calibration_json": null,
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+    "mapping": "初始化最大开度角度=100，闭合角度=0",
+    "reference_pose": "max_open",
+    "camera_device": "0",
+    "camera_width": 1280,
+    "camera_height": 960,
+    "camera_fps": 40.0,
+    "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json",
+    "camera_fourcc": "mp4v",
+    "camera_capture_pixel_format": "RGB888",
+    "camera_frame_color_order": "BGR",
+    "camera_color_pipeline": "Picamera2 RGB888 ndarray(BGR) -> OpenCV VideoWriter",
+    "preview_device": "/dev/fb0",
+    "preview_fps": 10.0,
+    "preview_rotation": "none",
+    "camera_first_frame_timeout_s": 5.0,
+    "sync_mode": "immediate",
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+    "effective_capture_stop_time_ns": 1792822683485137296,
+    "capture_start_guard_s": 0.5,
+    "stop_file": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141753_00033.stop",
+    "diagnostics_state_file": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141753_00033.diagnostics.json",
+    "deferred_arm": true,
+    "control_session_id": "session_20261024_141753_00033",
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+    "data_plane_mode": "persistent",
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+      "sensors": {},
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+      "point_count": 77,
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+      "init_seconds": 2.0,
+      "read_resultant": true,
+      "read_distributed": true,
+      "write_header": false,
+      "config_path": "./config/tactile.json",
+      "model": "PX6AX-GEN3-CP-M3025-Core",
+      "force_scale_n_per_lsb": 0.1,
+      "timestamp": "主机收到并解析串口响应后调用 time.time_ns()",
+      "hardware_synchronized": false,
+      "integration_mode": "pi_session_optional_sidecar",
+      "gate_time_source": "shared_capture_start_stop_time_ns",
+      "capture_start_time_ns": 1792822676955864567,
+      "capture_stop_time_ns": 1792822683485137296
+    },
+    "diagnostics_data": {
+      "monotonic_timestamp_enabled": true,
+      "corrected_time_enabled": false,
+      "monotonic_timestamp_role": "仅用于本机样本顺序、采样间隔和墙钟异常诊断，不参与 T0/Tstop 门控"
+    },
+    "capture_clock": {
+      "mode": "wall_clock",
+      "policy": "T0、Tstop 和采集数据时间戳统一直接使用 time.time_ns 墙钟。"
+    },
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+    "reference_source": "max_open_init",
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+      "camera_encoder": "opencv_video_writer",
+      "camera_rotation": "180",
+      "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json",
+      "camera_model": "ov5647",
+      "camera_profile": null,
+      "applied_camera_controls": {
+        "AeEnable": false,
+        "AwbEnable": false,
+        "Brightness": -0.05,
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+        "Sharpness": 0.85,
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+        "AnalogueGain": 6.1,
+        "ColourGains": [
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+      "queue_depth": 1,
+      "max_queue_depth": 204,
+      "read_count": 761,
+      "read_error_count": 0,
+      "queue_overrun_count": 0,
+      "last_read_error": null
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+    "main_loop_iterations": 1618
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+  "notes": [
+    "树莓派端已经接入 AS5600、相机、HDMI 小屏预览和默认关闭的可选双路触觉旁路。",
+    "夹爪映射规则为：初始化最大开度角度=100，闭合角度=0；正式落盘仍保存 0 到 100 的 value。",
+    "VIVE Tracker 当前在 Windows 端采集；自动单条联合采集入口为 run_session_pc.py。",
+    "首条采集前通过网络执行一次 NTP 校时并停止 chronyd；后续采集网络只负责开始、停止和事后状态/质检。",
+    "下一阶段优先扩展批量采集入口、Pi 本地数据质量检查和工程化稳定性测试。",
+    "逐帧/逐样本 monotonic_ns 仅作为本地诊断字段保存；T0、Tstop 和正式对齐仍使用墙钟 time.time_ns。"
+  ]
+}

stack the blocks/session_20261024_141753_00033/left_hand/Metadata/pc_metadata.json

@@ -0,0 +1,101 @@
+{
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+  "version": "v2",
+  "role": "windows_vive_dual_capture",
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+  "platform": {
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+    "release": "5.15.0-139-generic",
+    "machine": "x86_64"
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+    "metadata_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141753_00033/left_hand/Metadata",
+    "vive_txt_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141753_00033/left_hand/Merged_Trajectory/merged_trajectory.txt",
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+    "tracker_indices": [
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+}

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