Upload folder using huggingface_hub (part 9)

pick R/session_20261023_143901_00094/Logs/vive_broker_session.log

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pick R/session_20261023_143901_00094/control/stop_left_hand.flag

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pick R/session_20261023_143901_00094/left_hand/Clamp_Data/clamp_data_tum.txt

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pick R/session_20261023_143901_00094/left_hand/Clamp_Data/clamp_timebase.csv

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pick R/session_20261023_143901_00094/left_hand/Metadata/metadata.json

@@ -0,0 +1,343 @@
+{
+  "project": "Tele-UMI",
+  "version": "v2",
+  "role": "raspberry_pi_capture",
+  "created_time_ns": 1792737557851029541,
+  "platform": {
+    "system": "Linux",
+    "release": "6.18.34+rpt-rpi-2712",
+    "machine": "aarch64"
+  },
+  "paths": {
+    "run_dir": "/home/zhang/teleumi-v2/datasets/pick R/session_20261023_143901_00094/left_hand",
+    "rgb_dir": "/home/zhang/teleumi-v2/datasets/pick R/session_20261023_143901_00094/left_hand/RGB_Images",
+    "clamp_dir": "/home/zhang/teleumi-v2/datasets/pick R/session_20261023_143901_00094/left_hand/Clamp_Data",
+    "metadata_dir": "/home/zhang/teleumi-v2/datasets/pick R/session_20261023_143901_00094/left_hand/Metadata",
+    "video_path": "/home/zhang/teleumi-v2/datasets/pick R/session_20261023_143901_00094/left_hand/RGB_Images/video.mp4",
+    "camera_timestamps_path": "/home/zhang/teleumi-v2/datasets/pick R/session_20261023_143901_00094/left_hand/RGB_Images/timestamps.csv",
+    "clamp_data_path": "/home/zhang/teleumi-v2/datasets/pick R/session_20261023_143901_00094/left_hand/Clamp_Data/clamp_data_tum.txt",
+    "metadata_path": "/home/zhang/teleumi-v2/datasets/pick R/session_20261023_143901_00094/left_hand/Metadata/metadata.json",
+    "clamp_timebase_path": "/home/zhang/teleumi-v2/datasets/pick R/session_20261023_143901_00094/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": {
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+        "as5600_queue_size": 600,
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+        "camera_type": "csi",
+        "camera_device": "0",
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+        "camera_height": 960,
+        "camera_fps": 40.0,
+        "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json",
+        "camera_fourcc": "mp4v",
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+        "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": 1789138072669261111,
+        "module_import_start_time_ns": 1789138072707906965,
+        "import_log_utils_start_time_ns": 1789138072707908724,
+        "import_log_utils_end_time_ns": 1789138072709991109,
+        "import_as5600_start_time_ns": 1789138072709992035,
+        "import_as5600_end_time_ns": 1789138072750619162,
+        "import_pi_session_start_time_ns": 1789138072750620718,
+        "import_pi_session_end_time_ns": 1789138072886917222,
+        "import_usb_camera_start_time_ns": 1789138072886918056,
+        "import_usb_camera_end_time_ns": 1789138072935693131,
+        "configure_stdio_start_time_ns": 1789138072994583947,
+        "configure_stdio_end_time_ns": 1789138072994872354,
+        "capture_entry_time_ns": 1792737541876953926,
+        "validate_start_time_ns": 1792737542954058129,
+        "session_dir_create_start_time_ns": 1792737541877719528,
+        "session_dir_create_end_time_ns": 1792737541878744258,
+        "as5600_init_start_time_ns": 1792737541879870191,
+        "as5600_init_end_time_ns": 1792737541880700497,
+        "as5600_zero_start_time_ns": 1792737541882109852,
+        "as5600_zero_end_time_ns": 1792737542688045863,
+        "camera_init_start_time_ns": 1792737542690435689,
+        "camera_init_end_time_ns": 1792737542692841793,
+        "camera_start_start_time_ns": 1792737542693936744,
+        "camera_start_end_time_ns": 1792737542695591467,
+        "camera_first_frame_wait_start_time_ns": 1792737542697295097,
+        "camera_first_frame_wait_end_time_ns": 1792737542698922061,
+        "tactile_init_start_time_ns": null,
+        "tactile_init_end_time_ns": null,
+        "ready_time_ns": 1792737542700423767,
+        "armed_time_ns": 1792737542950576555,
+        "waiting_t0_time_ns": 1792737542956665453,
+        "recording_start_time_ns": 1792737545419864333,
+        "stop_request_time_ns": 1792737556958792620,
+        "finalized_time_ns": 1792737557849911238
+      },
+      "last_error": null,
+      "capture_start_time_ns": 1792737545415603186,
+      "capture_stop_time_ns": 1792737557841793672
+    },
+    "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": 1792737545415603186,
+    "capture_stop_time_ns": 1792737557841793672,
+    "effective_capture_stop_time_ns": 1792737557841793672,
+    "capture_start_guard_s": 0.5,
+    "stop_file": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261023_143901_00094.stop",
+    "diagnostics_state_file": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261023_143901_00094.diagnostics.json",
+    "deferred_arm": true,
+    "control_session_id": "session_20261023_143901_00094",
+    "control_generation": 5,
+    "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": 1792737545415603186,
+      "capture_stop_time_ns": 1792737557841793672
+    },
+    "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": 106.51977539188671,
+    "reference_source": "max_open_init",
+    "zero_angle_deg": 106.51977539188671,
+    "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": 6.944e-06,
+    "camera_first_frame_ready": true,
+    "effective_record_start_time_ns": 1792737545419850037,
+    "camera_frame_count": 497,
+    "camera_started_time_ns": 1792737542692836478,
+    "camera_stopped_time_ns": 1792737557848032610,
+    "camera_actual_fps": 32.794032863130745,
+    "camera_first_frame_time_ns": 1792737545437932437,
+    "camera_last_frame_time_ns": 1792737557828177359,
+    "camera_frame_timestamp_fps": 40.0314927689046,
+    "camera_diagnostics": {
+      "running": true,
+      "session_open": false,
+      "stream_first_frame_time_ns": 1792737233041830475,
+      "stream_last_frame_time_ns": 1792737557828177359,
+      "capture_count": 606,
+      "capture_error_count": 0,
+      "writer_count": 497,
+      "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": 746,
+    "clamp_first_sample_time_ns": 1792737545417964391,
+    "clamp_last_sample_time_ns": 1792737557834638605,
+    "clamp_actual_hz": 59.999963529686596,
+    "clamp_value_min": 58.35731144354415,
+    "clamp_value_max": 100.0,
+    "as5600_diagnostics": {
+      "queue_size": 600,
+      "queue_depth": 0,
+      "max_queue_depth": 600,
+      "read_count": 1646,
+      "read_error_count": 0,
+      "queue_overrun_count": 88,
+      "last_read_error": null
+    },
+    "main_loop_iterations": 2684
+  },
+  "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。"
+  ]
+}

pick R/session_20261023_143901_00094/left_hand/Metadata/pc_metadata.json

@@ -0,0 +1,101 @@
+{
+  "project": "Tele-UMI",
+  "version": "v2",
+  "role": "windows_vive_dual_capture",
+  "created_time_ns": 1792737541857276888,
+  "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/pick R/session_20261023_143901_00094/left_hand",
+    "merged_trajectory_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/pick R/session_20261023_143901_00094/left_hand/Merged_Trajectory",
+    "metadata_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/pick R/session_20261023_143901_00094/left_hand/Metadata",
+    "vive_txt_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/pick R/session_20261023_143901_00094/left_hand/Merged_Trajectory/merged_trajectory.txt",
+    "raw_vive_txt_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/pick R/session_20261023_143901_00094/left_hand/Merged_Trajectory/raw_vive_pose.txt",
+    "vive_txt_tmp_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/pick R/session_20261023_143901_00094/left_hand/Merged_Trajectory/merged_trajectory.txt.part",
+    "raw_vive_txt_tmp_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/pick R/session_20261023_143901_00094/left_hand/Merged_Trajectory/raw_vive_pose.txt.part",
+    "metadata_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/pick R/session_20261023_143901_00094/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/pick R/session_20261023_143901_00094/control/stop_left_hand.flag",
+    "sync_mode": "deferred_arm",
+    "capture_clock": "wall_clock",
+    "capture_start_time_ns": 1792737545415603186,
+    "capture_stop_time_ns": 1792737557841793672,
+    "effective_capture_stop_time_ns": 1792737557841793672,
+    "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/pick R/session_20261023_143901_00094/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": 4,
+    "tracker_serial_used": "LHR-26B06EF4",
+    "vive_bias": {
+      "x0": -0.06907345354557037,
+      "y0": -0.7898634076118469,
+      "z0": -0.8180553317070007,
+      "qx0": 0.007307183380335243,
+      "qy0": 0.8194111280501629,
+      "qz0": -0.0532644674871652,
+      "qw0": 0.5706793362317533
+    },
+    "zero_reference_sample_ns": 1792737545420928303
+  },
+  "data_mark": "FORMAL",
+  "test_artifact": false,
+  "result": {
+    "sample_count": 2485,
+    "invalid_reads": 0,
+    "disconnected_reads": 0,
+    "invalid_pose_reads": 0,
+    "recording_disconnected_reads": 0,
+    "recording_invalid_pose_reads": 0,
+    "started_time_ns": 1792737545415768903,
+    "effective_record_start_time_ns": 1792737545415768903,
+    "stopped_time_ns": 1792737557845885376,
+    "effective_capture_stop_time_ns": 1792737557841793672,
+    "first_sample_time_ns": 1792737545420928303,
+    "last_sample_time_ns": 1792737557840733713,
+    "sample_duration_s": 12.41980541,
+    "sample_timestamp_hz": 200.00313354345863,
+    "artifacts": {
+      "trajectory": {
+        "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/pick R/session_20261023_143901_00094/left_hand/Merged_Trajectory/merged_trajectory.txt",
+        "exists": true,
+        "size_bytes": 267732
+      },
+      "raw_trajectory": {
+        "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/pick R/session_20261023_143901_00094/left_hand/Merged_Trajectory/raw_vive_pose.txt",
+        "exists": true,
+        "size_bytes": 272902
+      },
+      "trajectory_tmp": {
+        "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/pick R/session_20261023_143901_00094/left_hand/Merged_Trajectory/merged_trajectory.txt.part",
+        "exists": false,
+        "size_bytes": 0
+      },
+      "raw_trajectory_tmp": {
+        "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/pick R/session_20261023_143901_00094/left_hand/Merged_Trajectory/raw_vive_pose.txt.part",
+        "exists": false,
+        "size_bytes": 0
+      }
+    }
+  }
+}

pick R/session_20261023_143901_00094/left_hand/RGB_Images/timestamps.csv

@@ -0,0 +1,498 @@
+frame_id,timestamp_ns,monotonic_ns
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pick R/session_20261023_143901_00094/right_hand/Clamp_Data/clamp_timebase.csv

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pick R/session_20261023_143901_00094/right_hand/Metadata/metadata.json

@@ -0,0 +1,343 @@
+{
+  "project": "Tele-UMI",
+  "version": "v2",
+  "role": "raspberry_pi_capture",
+  "created_time_ns": 1792737557850654508,
+  "platform": {
+    "system": "Linux",
+    "release": "6.12.75+rpt-rpi-2712",
+    "machine": "aarch64"
+  },
+  "paths": {
+    "run_dir": "/home/zhang/teleumi-v2/datasets/pick R/session_20261023_143901_00094/right_hand",
+    "rgb_dir": "/home/zhang/teleumi-v2/datasets/pick R/session_20261023_143901_00094/right_hand/RGB_Images",
+    "clamp_dir": "/home/zhang/teleumi-v2/datasets/pick R/session_20261023_143901_00094/right_hand/Clamp_Data",
+    "metadata_dir": "/home/zhang/teleumi-v2/datasets/pick R/session_20261023_143901_00094/right_hand/Metadata",
+    "video_path": "/home/zhang/teleumi-v2/datasets/pick R/session_20261023_143901_00094/right_hand/RGB_Images/video.mp4",
+    "camera_timestamps_path": "/home/zhang/teleumi-v2/datasets/pick R/session_20261023_143901_00094/right_hand/RGB_Images/timestamps.csv",
+    "clamp_data_path": "/home/zhang/teleumi-v2/datasets/pick R/session_20261023_143901_00094/right_hand/Clamp_Data/clamp_data_tum.txt",
+    "metadata_path": "/home/zhang/teleumi-v2/datasets/pick R/session_20261023_143901_00094/right_hand/Metadata/metadata.json",
+    "clamp_timebase_path": "/home/zhang/teleumi-v2/datasets/pick R/session_20261023_143901_00094/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": {
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+        "i2c_bus": 1,
+        "i2c_address": "0x36",
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+        "desktop_usb_poll_seconds": 0.5
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+      "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": 1781523808571998977,
+        "module_import_start_time_ns": 1781523808595722420,
+        "import_log_utils_start_time_ns": 1781523808595724012,
+        "import_log_utils_end_time_ns": 1781523808598074718,
+        "import_as5600_start_time_ns": 1781523808598075699,
+        "import_as5600_end_time_ns": 1781523808628700389,
+        "import_pi_session_start_time_ns": 1781523808628702463,
+        "import_pi_session_end_time_ns": 1781523808685083858,
+        "import_usb_camera_start_time_ns": 1781523808685084970,
+        "import_usb_camera_end_time_ns": 1781523808714213503,
+        "configure_stdio_start_time_ns": 1781523808779103560,
+        "configure_stdio_end_time_ns": 1781523808779404095,
+        "capture_entry_time_ns": 1792737541928497749,
+        "validate_start_time_ns": 1792737543010878087,
+        "session_dir_create_start_time_ns": 1792737541929449631,
+        "session_dir_create_end_time_ns": 1792737541931496617,
+        "as5600_init_start_time_ns": 1792737541933741249,
+        "as5600_init_end_time_ns": 1792737541934645261,
+        "as5600_zero_start_time_ns": 1792737541936393174,
+        "as5600_zero_end_time_ns": 1792737542744890701,
+        "camera_init_start_time_ns": 1792737542746845706,
+        "camera_init_end_time_ns": 1792737542749393502,
+        "camera_start_start_time_ns": 1792737542813462528,
+        "camera_start_end_time_ns": 1792737542817123354,
+        "camera_first_frame_wait_start_time_ns": 1792737542818520844,
+        "camera_first_frame_wait_end_time_ns": 1792737542819863390,
+        "tactile_init_start_time_ns": null,
+        "tactile_init_end_time_ns": null,
+        "ready_time_ns": 1792737542822960590,
+        "armed_time_ns": 1792737543009807224,
+        "waiting_t0_time_ns": 1792737543012614612,
+        "recording_start_time_ns": 1792737545415952571,
+        "stop_request_time_ns": 1792737556858290474,
+        "finalized_time_ns": 1792737557849524127
+      },
+      "last_error": null,
+      "capture_start_time_ns": 1792737545415603186,
+      "capture_stop_time_ns": 1792737557841793672
+    },
+    "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": 1792737545415603186,
+    "capture_stop_time_ns": 1792737557841793672,
+    "effective_capture_stop_time_ns": 1792737557841793672,
+    "capture_start_guard_s": 0.5,
+    "stop_file": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261023_143901_00094.stop",
+    "diagnostics_state_file": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261023_143901_00094.diagnostics.json",
+    "deferred_arm": true,
+    "control_session_id": "session_20261023_143901_00094",
+    "control_generation": 94,
+    "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": 1792737545415603186,
+      "capture_stop_time_ns": 1792737557841793672
+    },
+    "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": 280.283203125,
+    "reference_source": "max_open_init",
+    "zero_angle_deg": 280.283203125,
+    "zero_source": "max_open_init",
+    "init_total_samples": 49,
+    "init_bad_status_samples": 0,
+    "capture_start_policy": "camera_first_frame",
+    "camera_first_frame_wait_s": 6.426e-06,
+    "camera_first_frame_ready": true,
+    "effective_record_start_time_ns": 1792737545415945757,
+    "camera_frame_count": 497,
+    "camera_started_time_ns": 1792737542749388206,
+    "camera_stopped_time_ns": 1792737557847672751,
+    "camera_actual_fps": 32.917646936557986,
+    "camera_first_frame_time_ns": 1792737545434632901,
+    "camera_last_frame_time_ns": 1792737557823857754,
+    "camera_frame_timestamp_fps": 40.03478876887892,
+    "camera_diagnostics": {
+      "running": true,
+      "session_open": false,
+      "stream_first_frame_time_ns": 1792733464273583056,
+      "stream_last_frame_time_ns": 1792737557846342501,
+      "capture_count": 605,
+      "capture_error_count": 0,
+      "writer_count": 497,
+      "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": 746,
+    "clamp_first_sample_time_ns": 1792737545420473854,
+    "clamp_last_sample_time_ns": 1792737557837141937,
+    "clamp_actual_hz": 59.99999315597394,
+    "clamp_value_min": 66.79461438929047,
+    "clamp_value_max": 100.0,
+    "as5600_diagnostics": {
+      "queue_size": 600,
+      "queue_depth": 0,
+      "max_queue_depth": 600,
+      "read_count": 1646,
+      "read_error_count": 0,
+      "queue_overrun_count": 91,
+      "last_read_error": null
+    },
+    "main_loop_iterations": 2678
+  },
+  "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。"
+  ]
+}

pick R/session_20261023_143901_00094/right_hand/Metadata/pc_metadata.json

@@ -0,0 +1,101 @@
+{
+  "project": "Tele-UMI",
+  "version": "v2",
+  "role": "windows_vive_dual_capture",
+  "created_time_ns": 1792737541857291127,
+  "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/pick R/session_20261023_143901_00094/right_hand",
+    "merged_trajectory_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/pick R/session_20261023_143901_00094/right_hand/Merged_Trajectory",
+    "metadata_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/pick R/session_20261023_143901_00094/right_hand/Metadata",
+    "vive_txt_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/pick R/session_20261023_143901_00094/right_hand/Merged_Trajectory/merged_trajectory.txt",
+    "raw_vive_txt_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/pick R/session_20261023_143901_00094/right_hand/Merged_Trajectory/raw_vive_pose.txt",
+    "vive_txt_tmp_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/pick R/session_20261023_143901_00094/right_hand/Merged_Trajectory/merged_trajectory.txt.part",
+    "raw_vive_txt_tmp_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/pick R/session_20261023_143901_00094/right_hand/Merged_Trajectory/raw_vive_pose.txt.part",
+    "metadata_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/pick R/session_20261023_143901_00094/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/pick R/session_20261023_143901_00094/control/stop_left_hand.flag",
+    "sync_mode": "deferred_arm",
+    "capture_clock": "wall_clock",
+    "capture_start_time_ns": 1792737545415603186,
+    "capture_stop_time_ns": 1792737557841793672,
+    "effective_capture_stop_time_ns": 1792737557841793672,
+    "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/pick R/session_20261023_143901_00094/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": 1,
+    "tracker_serial_used": "LHR-F47559F6",
+    "vive_bias": {
+      "x0": 0.423547625541687,
+      "y0": -1.0839037895202637,
+      "z0": -1.2049864530563354,
+      "qx0": 0.0435060114606581,
+      "qy0": 0.8313554446493896,
+      "qz0": -0.04282113862278318,
+      "qw0": 0.5523782234172968
+    },
+    "zero_reference_sample_ns": 1792737545420928303
+  },
+  "data_mark": "FORMAL",
+  "test_artifact": false,
+  "result": {
+    "sample_count": 2485,
+    "invalid_reads": 0,
+    "disconnected_reads": 0,
+    "invalid_pose_reads": 0,
+    "recording_disconnected_reads": 0,
+    "recording_invalid_pose_reads": 0,
+    "started_time_ns": 1792737545415768903,
+    "effective_record_start_time_ns": 1792737545415768903,
+    "stopped_time_ns": 1792737557845885376,
+    "effective_capture_stop_time_ns": 1792737557841793672,
+    "first_sample_time_ns": 1792737545420928303,
+    "last_sample_time_ns": 1792737557840733713,
+    "sample_duration_s": 12.41980541,
+    "sample_timestamp_hz": 200.00313354345863,
+    "artifacts": {
+      "trajectory": {
+        "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/pick R/session_20261023_143901_00094/right_hand/Merged_Trajectory/merged_trajectory.txt",
+        "exists": true,
+        "size_bytes": 273408
+      },
+      "raw_trajectory": {
+        "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/pick R/session_20261023_143901_00094/right_hand/Merged_Trajectory/raw_vive_pose.txt",
+        "exists": true,
+        "size_bytes": 271224
+      },
+      "trajectory_tmp": {
+        "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/pick R/session_20261023_143901_00094/right_hand/Merged_Trajectory/merged_trajectory.txt.part",
+        "exists": false,
+        "size_bytes": 0
+      },
+      "raw_trajectory_tmp": {
+        "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/pick R/session_20261023_143901_00094/right_hand/Merged_Trajectory/raw_vive_pose.txt.part",
+        "exists": false,
+        "size_bytes": 0
+      }
+    }
+  }
+}

pick R/session_20261023_143901_00094/right_hand/RGB_Images/timestamps.csv

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pick R/session_20261023_143901_00094/right_hand/RGB_Images/video.mp4

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pick R/session_20261023_144028_00097/Logs/vive_broker_session.log

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pick R/session_20261023_144028_00097/control/stop_left_hand.flag

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pick R/session_20261023_144028_00097/left_hand/Clamp_Data/clamp_data_tum.txt

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pick R/session_20261023_144028_00097/left_hand/Clamp_Data/clamp_timebase.csv

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pick R/session_20261023_144028_00097/left_hand/Metadata/metadata.json

@@ -0,0 +1,343 @@
+{
+  "project": "Tele-UMI",
+  "version": "v2",
+  "role": "raspberry_pi_capture",
+  "created_time_ns": 1792737643642921866,
+  "platform": {
+    "system": "Linux",
+    "release": "6.18.34+rpt-rpi-2712",
+    "machine": "aarch64"
+  },
+  "paths": {
+    "run_dir": "/home/zhang/teleumi-v2/datasets/pick R/session_20261023_144028_00097/left_hand",
+    "rgb_dir": "/home/zhang/teleumi-v2/datasets/pick R/session_20261023_144028_00097/left_hand/RGB_Images",
+    "clamp_dir": "/home/zhang/teleumi-v2/datasets/pick R/session_20261023_144028_00097/left_hand/Clamp_Data",
+    "metadata_dir": "/home/zhang/teleumi-v2/datasets/pick R/session_20261023_144028_00097/left_hand/Metadata",
+    "video_path": "/home/zhang/teleumi-v2/datasets/pick R/session_20261023_144028_00097/left_hand/RGB_Images/video.mp4",
+    "camera_timestamps_path": "/home/zhang/teleumi-v2/datasets/pick R/session_20261023_144028_00097/left_hand/RGB_Images/timestamps.csv",
+    "clamp_data_path": "/home/zhang/teleumi-v2/datasets/pick R/session_20261023_144028_00097/left_hand/Clamp_Data/clamp_data_tum.txt",
+    "metadata_path": "/home/zhang/teleumi-v2/datasets/pick R/session_20261023_144028_00097/left_hand/Metadata/metadata.json",
+    "clamp_timebase_path": "/home/zhang/teleumi-v2/datasets/pick R/session_20261023_144028_00097/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": {
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+        "i2c_bus": 1,
+        "i2c_address": "0x36",
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+        "desktop_usb_exit": true,
+        "desktop_usb_poll_seconds": 0.5
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+        "camera_type": "csi",
+        "camera_device": "0",
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+        "camera_height": 960,
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+        "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json",
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+      "button_control": {
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+        "role": "right",
+        "gpio_bcm": 17,
+        "debounce_ms": 50,
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+      },
+      "_source": {
+        "path": "/home/zhang/TeleUMI/config/teleumi_config.json"
+      }
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+    "diagnostics": {
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+        "tactile_init_start_time_ns": null,
+        "tactile_init_end_time_ns": null,
+        "ready_time_ns": 1792737629372430940,
+        "armed_time_ns": 1792737629479346796,
+        "waiting_t0_time_ns": 1792737629483514770,
+        "recording_start_time_ns": 1792737631948999200,
+        "stop_request_time_ns": 1792737642682679857,
+        "finalized_time_ns": 1792737643641838915
+      },
+      "last_error": null,
+      "capture_start_time_ns": 1792737631947625664,
+      "capture_stop_time_ns": 1792737643632807083
+    },
+    "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": 1792737631947625664,
+    "capture_stop_time_ns": 1792737643632807083,
+    "effective_capture_stop_time_ns": 1792737643632807083,
+    "capture_start_guard_s": 0.5,
+    "stop_file": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261023_144028_00097.stop",
+    "diagnostics_state_file": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261023_144028_00097.diagnostics.json",
+    "deferred_arm": true,
+    "control_session_id": "session_20261023_144028_00097",
+    "control_generation": 8,
+    "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": 1792737631947625664,
+      "capture_stop_time_ns": 1792737643632807083
+    },
+    "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": 105.46875,
+    "reference_source": "max_open_init",
+    "zero_angle_deg": 105.46875,
+    "zero_source": "max_open_init",
+    "init_total_samples": 49,
+    "init_bad_status_samples": 0,
+    "capture_start_policy": "camera_first_frame",
+    "camera_first_frame_wait_s": 7.611e-06,
+    "camera_first_frame_ready": true,
+    "effective_record_start_time_ns": 1792737631948991423,
+    "camera_frame_count": 468,
+    "camera_started_time_ns": 1792737629364626042,
+    "camera_stopped_time_ns": 1792737643640031138,
+    "camera_actual_fps": 32.78365810656642,
+    "camera_first_frame_time_ns": 1792737631957431092,
+    "camera_last_frame_time_ns": 1792737643625220259,
+    "camera_frame_timestamp_fps": 40.024720477536206,
+    "camera_diagnostics": {
+      "running": true,
+      "session_open": false,
+      "stream_first_frame_time_ns": 1792737233041830475,
+      "stream_last_frame_time_ns": 1792737643625220259,
+      "capture_count": 571,
+      "capture_error_count": 0,
+      "writer_count": 468,
+      "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": 701,
+    "clamp_first_sample_time_ns": 1792737631953632299,
+    "clamp_last_sample_time_ns": 1792737643620337293,
+    "clamp_actual_hz": 59.99980288864755,
+    "clamp_value_min": 54.70247974492804,
+    "clamp_value_max": 100.0,
+    "as5600_diagnostics": {
+      "queue_size": 600,
+      "queue_depth": 0,
+      "max_queue_depth": 577,
+      "read_count": 1483,
+      "read_error_count": 0,
+      "queue_overrun_count": 0,
+      "last_read_error": null
+    },
+    "main_loop_iterations": 2545
+  },
+  "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。"
+  ]
+}

pick R/session_20261023_144028_00097/left_hand/Metadata/pc_metadata.json

@@ -0,0 +1,101 @@
+{
+  "project": "Tele-UMI",
+  "version": "v2",
+  "role": "windows_vive_dual_capture",
+  "created_time_ns": 1792737628588377958,
+  "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/pick R/session_20261023_144028_00097/left_hand",
+    "merged_trajectory_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/pick R/session_20261023_144028_00097/left_hand/Merged_Trajectory",
+    "metadata_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/pick R/session_20261023_144028_00097/left_hand/Metadata",
+    "vive_txt_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/pick R/session_20261023_144028_00097/left_hand/Merged_Trajectory/merged_trajectory.txt",
+    "raw_vive_txt_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/pick R/session_20261023_144028_00097/left_hand/Merged_Trajectory/raw_vive_pose.txt",
+    "vive_txt_tmp_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/pick R/session_20261023_144028_00097/left_hand/Merged_Trajectory/merged_trajectory.txt.part",
+    "raw_vive_txt_tmp_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/pick R/session_20261023_144028_00097/left_hand/Merged_Trajectory/raw_vive_pose.txt.part",
+    "metadata_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/pick R/session_20261023_144028_00097/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/pick R/session_20261023_144028_00097/control/stop_left_hand.flag",
+    "sync_mode": "deferred_arm",
+    "capture_clock": "wall_clock",
+    "capture_start_time_ns": 1792737631947625664,
+    "capture_stop_time_ns": 1792737643632807083,
+    "effective_capture_stop_time_ns": 1792737643632807083,
+    "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/pick R/session_20261023_144028_00097/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": 4,
+    "tracker_serial_used": "LHR-26B06EF4",
+    "vive_bias": {
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+      "y0": -0.7882266044616699,
+      "z0": -0.8148236870765686,
+      "qx0": 0.02424994853664281,
+      "qy0": 0.8128943125110507,
+      "qz0": -0.052228775653939755,
+      "qw0": 0.5795575309465377
+    },
+    "zero_reference_sample_ns": 1792737631954247957
+  },
+  "data_mark": "FORMAL",
+  "test_artifact": false,
+  "result": {
+    "sample_count": 2336,
+    "invalid_reads": 0,
+    "disconnected_reads": 0,
+    "invalid_pose_reads": 0,
+    "recording_disconnected_reads": 0,
+    "recording_invalid_pose_reads": 0,
+    "started_time_ns": 1792737631949097755,
+    "effective_record_start_time_ns": 1792737631949097755,
+    "stopped_time_ns": 1792737643634088863,
+    "effective_capture_stop_time_ns": 1792737643632807083,
+    "first_sample_time_ns": 1792737631954247957,
+    "last_sample_time_ns": 1792737643629075869,
+    "sample_duration_s": 11.674827912,
+    "sample_timestamp_hz": 200.0029480177575,
+    "artifacts": {
+      "trajectory": {
+        "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/pick R/session_20261023_144028_00097/left_hand/Merged_Trajectory/merged_trajectory.txt",
+        "exists": true,
+        "size_bytes": 252600
+      },
+      "raw_trajectory": {
+        "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/pick R/session_20261023_144028_00097/left_hand/Merged_Trajectory/raw_vive_pose.txt",
+        "exists": true,
+        "size_bytes": 256591
+      },
+      "trajectory_tmp": {
+        "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/pick R/session_20261023_144028_00097/left_hand/Merged_Trajectory/merged_trajectory.txt.part",
+        "exists": false,
+        "size_bytes": 0
+      },
+      "raw_trajectory_tmp": {
+        "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/pick R/session_20261023_144028_00097/left_hand/Merged_Trajectory/raw_vive_pose.txt.part",
+        "exists": false,
+        "size_bytes": 0
+      }
+    }
+  }
+}

pick R/session_20261023_144028_00097/left_hand/RGB_Images/timestamps.csv

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pick R/session_20261023_144028_00097/left_hand/RGB_Images/video.mp4

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+700,1792737643625017976,4244486928454,100.0000

pick R/session_20261023_144028_00097/right_hand/Metadata/metadata.json

@@ -0,0 +1,343 @@
+{
+  "project": "Tele-UMI",
+  "version": "v2",
+  "role": "raspberry_pi_capture",
+  "created_time_ns": 1792737643644226432,
+  "platform": {
+    "system": "Linux",
+    "release": "6.12.75+rpt-rpi-2712",
+    "machine": "aarch64"
+  },
+  "paths": {
+    "run_dir": "/home/zhang/teleumi-v2/datasets/pick R/session_20261023_144028_00097/right_hand",
+    "rgb_dir": "/home/zhang/teleumi-v2/datasets/pick R/session_20261023_144028_00097/right_hand/RGB_Images",
+    "clamp_dir": "/home/zhang/teleumi-v2/datasets/pick R/session_20261023_144028_00097/right_hand/Clamp_Data",
+    "metadata_dir": "/home/zhang/teleumi-v2/datasets/pick R/session_20261023_144028_00097/right_hand/Metadata",
+    "video_path": "/home/zhang/teleumi-v2/datasets/pick R/session_20261023_144028_00097/right_hand/RGB_Images/video.mp4",
+    "camera_timestamps_path": "/home/zhang/teleumi-v2/datasets/pick R/session_20261023_144028_00097/right_hand/RGB_Images/timestamps.csv",
+    "clamp_data_path": "/home/zhang/teleumi-v2/datasets/pick R/session_20261023_144028_00097/right_hand/Clamp_Data/clamp_data_tum.txt",
+    "metadata_path": "/home/zhang/teleumi-v2/datasets/pick R/session_20261023_144028_00097/right_hand/Metadata/metadata.json",
+    "clamp_timebase_path": "/home/zhang/teleumi-v2/datasets/pick R/session_20261023_144028_00097/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": 1781523808571998977,
+        "module_import_start_time_ns": 1781523808595722420,
+        "import_log_utils_start_time_ns": 1781523808595724012,
+        "import_log_utils_end_time_ns": 1781523808598074718,
+        "import_as5600_start_time_ns": 1781523808598075699,
+        "import_as5600_end_time_ns": 1781523808628700389,
+        "import_pi_session_start_time_ns": 1781523808628702463,
+        "import_pi_session_end_time_ns": 1781523808685083858,
+        "import_usb_camera_start_time_ns": 1781523808685084970,
+        "import_usb_camera_end_time_ns": 1781523808714213503,
+        "configure_stdio_start_time_ns": 1781523808779103560,
+        "configure_stdio_end_time_ns": 1781523808779404095,
+        "capture_entry_time_ns": 1792737628521707819,
+        "validate_start_time_ns": 1792737629497285360,
+        "session_dir_create_start_time_ns": 1792737628522470239,
+        "session_dir_create_end_time_ns": 1792737628523733378,
+        "as5600_init_start_time_ns": 1792737628525055628,
+        "as5600_init_end_time_ns": 1792737628527871590,
+        "as5600_zero_start_time_ns": 1792737628530185221,
+        "as5600_zero_end_time_ns": 1792737629333293082,
+        "camera_init_start_time_ns": 1792737629335144143,
+        "camera_init_end_time_ns": 1792737629337404183,
+        "camera_start_start_time_ns": 1792737629338568841,
+        "camera_start_end_time_ns": 1792737629340276199,
+        "camera_first_frame_wait_start_time_ns": 1792737629343807804,
+        "camera_first_frame_wait_end_time_ns": 1792737629344688946,
+        "tactile_init_start_time_ns": null,
+        "tactile_init_end_time_ns": null,
+        "ready_time_ns": 1792737629346225916,
+        "armed_time_ns": 1792737629495954370,
+        "waiting_t0_time_ns": 1792737629499368642,
+        "recording_start_time_ns": 1792737631948729830,
+        "stop_request_time_ns": 1792737642674892235,
+        "finalized_time_ns": 1792737643643201884
+      },
+      "last_error": null,
+      "capture_start_time_ns": 1792737631947625664,
+      "capture_stop_time_ns": 1792737643632807083
+    },
+    "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": 1792737631947625664,
+    "capture_stop_time_ns": 1792737643632807083,
+    "effective_capture_stop_time_ns": 1792737643632807083,
+    "capture_start_guard_s": 0.5,
+    "stop_file": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261023_144028_00097.stop",
+    "diagnostics_state_file": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261023_144028_00097.diagnostics.json",
+    "deferred_arm": true,
+    "control_session_id": "session_20261023_144028_00097",
+    "control_generation": 97,
+    "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": 1792737631947625664,
+      "capture_stop_time_ns": 1792737643632807083
+    },
+    "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": 280.27602838226426,
+    "reference_source": "max_open_init",
+    "zero_angle_deg": 280.27602838226426,
+    "zero_source": "max_open_init",
+    "init_total_samples": 49,
+    "init_bad_status_samples": 0,
+    "capture_start_policy": "camera_first_frame",
+    "camera_first_frame_wait_s": 7.111e-06,
+    "camera_first_frame_ready": true,
+    "effective_record_start_time_ns": 1792737631948653867,
+    "camera_frame_count": 468,
+    "camera_started_time_ns": 1792737629337399572,
+    "camera_stopped_time_ns": 1792737643639081357,
+    "camera_actual_fps": 32.72342421230847,
+    "camera_first_frame_time_ns": 1792737631949287085,
+    "camera_last_frame_time_ns": 1792737643620012975,
+    "camera_frame_timestamp_fps": 40.014648994553674,
+    "camera_diagnostics": {
+      "running": true,
+      "session_open": false,
+      "stream_first_frame_time_ns": 1792733464273583056,
+      "stream_last_frame_time_ns": 1792737643620012975,
+      "capture_count": 572,
+      "capture_error_count": 0,
+      "writer_count": 468,
+      "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": 701,
+    "clamp_first_sample_time_ns": 1792737631958343521,
+    "clamp_last_sample_time_ns": 1792737643625017976,
+    "clamp_actual_hz": 59.99995994574102,
+    "clamp_value_min": 62.58763265212758,
+    "clamp_value_max": 100.0,
+    "as5600_diagnostics": {
+      "queue_size": 600,
+      "queue_depth": 0,
+      "max_queue_depth": 600,
+      "read_count": 3346,
+      "read_error_count": 0,
+      "queue_overrun_count": 316,
+      "last_read_error": null
+    },
+    "main_loop_iterations": 2552
+  },
+  "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。"
+  ]
+}

pick R/session_20261023_144028_00097/right_hand/Metadata/pc_metadata.json

@@ -0,0 +1,101 @@
+{
+  "project": "Tele-UMI",
+  "version": "v2",
+  "role": "windows_vive_dual_capture",
+  "created_time_ns": 1792737628588392591,
+  "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/pick R/session_20261023_144028_00097/right_hand",
+    "merged_trajectory_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/pick R/session_20261023_144028_00097/right_hand/Merged_Trajectory",
+    "metadata_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/pick R/session_20261023_144028_00097/right_hand/Metadata",
+    "vive_txt_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/pick R/session_20261023_144028_00097/right_hand/Merged_Trajectory/merged_trajectory.txt",
+    "raw_vive_txt_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/pick R/session_20261023_144028_00097/right_hand/Merged_Trajectory/raw_vive_pose.txt",
+    "vive_txt_tmp_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/pick R/session_20261023_144028_00097/right_hand/Merged_Trajectory/merged_trajectory.txt.part",
+    "raw_vive_txt_tmp_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/pick R/session_20261023_144028_00097/right_hand/Merged_Trajectory/raw_vive_pose.txt.part",
+    "metadata_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/pick R/session_20261023_144028_00097/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/pick R/session_20261023_144028_00097/control/stop_left_hand.flag",
+    "sync_mode": "deferred_arm",
+    "capture_clock": "wall_clock",
+    "capture_start_time_ns": 1792737631947625664,
+    "capture_stop_time_ns": 1792737643632807083,
+    "effective_capture_stop_time_ns": 1792737643632807083,
+    "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",
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pick R/session_20261023_144028_00097/right_hand/RGB_Images/video.mp4

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pick R/session_20261023_144129_00099/Logs/vive_broker_session.log

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pick R/session_20261023_144129_00099/control/stop_left_hand.flag

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pick R/session_20261023_144129_00099/left_hand/Clamp_Data/clamp_timebase.csv

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pick R/session_20261023_144129_00099/left_hand/Metadata/metadata.json

@@ -0,0 +1,343 @@
+{
+  "project": "Tele-UMI",
+  "version": "v2",
+  "role": "raspberry_pi_capture",
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+  "platform": {
+    "system": "Linux",
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+    "machine": "aarch64"
+  },
+  "paths": {
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+    "rgb_dir": "/home/zhang/teleumi-v2/datasets/pick R/session_20261023_144129_00099/left_hand/RGB_Images",
+    "clamp_dir": "/home/zhang/teleumi-v2/datasets/pick R/session_20261023_144129_00099/left_hand/Clamp_Data",
+    "metadata_dir": "/home/zhang/teleumi-v2/datasets/pick R/session_20261023_144129_00099/left_hand/Metadata",
+    "video_path": "/home/zhang/teleumi-v2/datasets/pick R/session_20261023_144129_00099/left_hand/RGB_Images/video.mp4",
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+    "clamp_data_path": "/home/zhang/teleumi-v2/datasets/pick R/session_20261023_144129_00099/left_hand/Clamp_Data/clamp_data_tum.txt",
+    "metadata_path": "/home/zhang/teleumi-v2/datasets/pick R/session_20261023_144129_00099/left_hand/Metadata/metadata.json",
+    "clamp_timebase_path": "/home/zhang/teleumi-v2/datasets/pick R/session_20261023_144129_00099/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": 1789138072669261111,
+        "module_import_start_time_ns": 1789138072707906965,
+        "import_log_utils_start_time_ns": 1789138072707908724,
+        "import_log_utils_end_time_ns": 1789138072709991109,
+        "import_as5600_start_time_ns": 1789138072709992035,
+        "import_as5600_end_time_ns": 1789138072750619162,
+        "import_pi_session_start_time_ns": 1789138072750620718,
+        "import_pi_session_end_time_ns": 1789138072886917222,
+        "import_usb_camera_start_time_ns": 1789138072886918056,
+        "import_usb_camera_end_time_ns": 1789138072935693131,
+        "configure_stdio_start_time_ns": 1789138072994583947,
+        "configure_stdio_end_time_ns": 1789138072994872354,
+        "capture_entry_time_ns": 1792737689334760916,
+        "validate_start_time_ns": 1792737690557564969,
+        "session_dir_create_start_time_ns": 1792737689336556304,
+        "session_dir_create_end_time_ns": 1792737689337969697,
+        "as5600_init_start_time_ns": 1792737689343915689,
+        "as5600_init_end_time_ns": 1792737689345777872,
+        "as5600_zero_start_time_ns": 1792737689347941127,
+        "as5600_zero_end_time_ns": 1792737690154388855,
+        "camera_init_start_time_ns": 1792737690156177576,
+        "camera_init_end_time_ns": 1792737690160108942,
+        "camera_start_start_time_ns": 1792737690174456510,
+        "camera_start_end_time_ns": 1792737690177243444,
+        "camera_first_frame_wait_start_time_ns": 1792737690178923889,
+        "camera_first_frame_wait_end_time_ns": 1792737690180556538,
+        "tactile_init_start_time_ns": null,
+        "tactile_init_end_time_ns": null,
+        "ready_time_ns": 1792737690182312463,
+        "armed_time_ns": 1792737690556673960,
+        "waiting_t0_time_ns": 1792737690560713583,
+        "recording_start_time_ns": 1792737693010493663,
+        "stop_request_time_ns": 1792737704070810271,
+        "finalized_time_ns": 1792737704880480038
+      },
+      "last_error": null,
+      "capture_start_time_ns": 1792737693008055879,
+      "capture_stop_time_ns": 1792737704864714085
+    },
+    "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": 1792737693008055879,
+    "capture_stop_time_ns": 1792737704864714085,
+    "effective_capture_stop_time_ns": 1792737704864714085,
+    "capture_start_guard_s": 0.5,
+    "stop_file": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261023_144129_00099.stop",
+    "diagnostics_state_file": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261023_144129_00099.diagnostics.json",
+    "deferred_arm": true,
+    "control_session_id": "session_20261023_144129_00099",
+    "control_generation": 10,
+    "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": 1792737693008055879,
+      "capture_stop_time_ns": 1792737704864714085
+    },
+    "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": 104.23828125000001,
+    "reference_source": "max_open_init",
+    "zero_angle_deg": 104.23828125000001,
+    "zero_source": "max_open_init",
+    "init_total_samples": 49,
+    "init_bad_status_samples": 0,
+    "capture_start_policy": "camera_first_frame",
+    "camera_first_frame_wait_s": 6.297e-06,
+    "camera_first_frame_ready": true,
+    "effective_record_start_time_ns": 1792737693010448108,
+    "camera_frame_count": 475,
+    "camera_started_time_ns": 1792737690160104553,
+    "camera_stopped_time_ns": 1792737704878735613,
+    "camera_actual_fps": 32.27202299342097,
+    "camera_first_frame_time_ns": 1792737693016475191,
+    "camera_last_frame_time_ns": 1792737704860409512,
+    "camera_frame_timestamp_fps": 40.020485351693466,
+    "camera_diagnostics": {
+      "running": true,
+      "session_open": false,
+      "stream_first_frame_time_ns": 1792737233041830475,
+      "stream_last_frame_time_ns": 1792737704860409512,
+      "capture_count": 589,
+      "capture_error_count": 0,
+      "writer_count": 475,
+      "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": 712,
+    "clamp_first_sample_time_ns": 1792737693008413463,
+    "clamp_last_sample_time_ns": 1792737704858356034,
+    "clamp_actual_hz": 60.00029078115606,
+    "clamp_value_min": 60.65257774453495,
+    "clamp_value_max": 100.0,
+    "as5600_diagnostics": {
+      "queue_size": 600,
+      "queue_depth": 1,
+      "max_queue_depth": 600,
+      "read_count": 2198,
+      "read_error_count": 0,
+      "queue_overrun_count": 665,
+      "last_read_error": null
+    },
+    "main_loop_iterations": 2574
+  },
+  "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。"
+  ]
+}