Upload folder using huggingface_hub (part 10)

pick R/session_20261023_152629_00146/right_hand/Clamp_Data/clamp_data_tum.txt

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pick R/session_20261023_152629_00146/right_hand/Clamp_Data/clamp_timebase.csv

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pick R/session_20261023_152629_00146/right_hand/Metadata/metadata.json

@@ -0,0 +1,343 @@
+{
+  "project": "Tele-UMI",
+  "version": "v2",
+  "role": "raspberry_pi_capture",
+  "created_time_ns": 1792740405056295584,
+  "platform": {
+    "system": "Linux",
+    "release": "6.12.75+rpt-rpi-2712",
+    "machine": "aarch64"
+  },
+  "paths": {
+    "run_dir": "/home/zhang/teleumi-v2/datasets/pick R/session_20261023_152629_00146/right_hand",
+    "rgb_dir": "/home/zhang/teleumi-v2/datasets/pick R/session_20261023_152629_00146/right_hand/RGB_Images",
+    "clamp_dir": "/home/zhang/teleumi-v2/datasets/pick R/session_20261023_152629_00146/right_hand/Clamp_Data",
+    "metadata_dir": "/home/zhang/teleumi-v2/datasets/pick R/session_20261023_152629_00146/right_hand/Metadata",
+    "video_path": "/home/zhang/teleumi-v2/datasets/pick R/session_20261023_152629_00146/right_hand/RGB_Images/video.mp4",
+    "camera_timestamps_path": "/home/zhang/teleumi-v2/datasets/pick R/session_20261023_152629_00146/right_hand/RGB_Images/timestamps.csv",
+    "clamp_data_path": "/home/zhang/teleumi-v2/datasets/pick R/session_20261023_152629_00146/right_hand/Clamp_Data/clamp_data_tum.txt",
+    "metadata_path": "/home/zhang/teleumi-v2/datasets/pick R/session_20261023_152629_00146/right_hand/Metadata/metadata.json",
+    "clamp_timebase_path": "/home/zhang/teleumi-v2/datasets/pick R/session_20261023_152629_00146/right_hand/Clamp_Data/clamp_timebase.csv"
+  },
+  "config": {
+    "project_config_snapshot": {
+      "schema_version": 1,
+      "network": {
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+        "left_pi_host": "192.168.157.6",
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+        "left_pi_port": 8765,
+        "right_pi_port": 8765,
+        "pi_ssh_user": "zhang",
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+        "pi_data_root": "/home/zhang/teleumi-v2/datasets"
+      },
+      "device_binding": {
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+        "vive_tracker_serial": "LHR-F47559F6"
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+        "role": "right",
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+      },
+      "_source": {
+        "path": "/home/zhang/TeleUMI/config/teleumi_config.json"
+      }
+    },
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+    "sensor": "as5600",
+    "hand_mode": "dual",
+    "hand_name": "right_hand",
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+    "camera_fourcc": "mp4v",
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+    "camera_frame_color_order": "BGR",
+    "camera_color_pipeline": "Picamera2 RGB888 ndarray(BGR) -> OpenCV VideoWriter",
+    "preview_device": "/dev/fb0",
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+    "sync_mode": "immediate",
+    "capture_start_time_ns": 1792740393000914099,
+    "capture_stop_time_ns": 1792740405050156521,
+    "effective_capture_stop_time_ns": 1792740405050156521,
+    "capture_start_guard_s": 0.5,
+    "stop_file": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261023_152629_00146.stop",
+    "diagnostics_state_file": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261023_152629_00146.diagnostics.json",
+    "deferred_arm": true,
+    "control_session_id": "session_20261023_152629_00146",
+    "control_generation": 146,
+    "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��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": 1792740393000914099,
+      "capture_stop_time_ns": 1792740405050156521
+    },
+    "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": 280.634765625,
+    "reference_source": "max_open_init",
+    "zero_angle_deg": 280.634765625,
+    "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": 7.296e-06,
+    "camera_first_frame_ready": true,
+    "effective_record_start_time_ns": 1792740393002185181,
+    "camera_frame_count": 482,
+    "camera_started_time_ns": 1792740390285055102,
+    "camera_stopped_time_ns": 1792740405054245951,
+    "camera_actual_fps": 32.635504878226655,
+    "camera_first_frame_time_ns": 1792740393024246358,
+    "camera_last_frame_time_ns": 1792740405041535393,
+    "camera_frame_timestamp_fps": 40.02566623795947,
+    "camera_diagnostics": {
+      "running": true,
+      "session_open": false,
+      "stream_first_frame_time_ns": 1792733464273583056,
+      "stream_last_frame_time_ns": 1792740405041535393,
+      "capture_count": 591,
+      "capture_error_count": 0,
+      "writer_count": 482,
+      "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": 722,
+    "clamp_first_sample_time_ns": 1792740393016942743,
+    "clamp_last_sample_time_ns": 1792740405033624653,
+    "clamp_actual_hz": 59.99992388913954,
+    "clamp_value_min": 69.09787813107378,
+    "clamp_value_max": 100.0,
+    "as5600_diagnostics": {
+      "queue_size": 600,
+      "queue_depth": 0,
+      "max_queue_depth": 600,
+      "read_count": 19929,
+      "read_error_count": 0,
+      "queue_overrun_count": 16918,
+      "last_read_error": null
+    },
+    "main_loop_iterations": 2614
+  },
+  "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_152629_00146/right_hand/Metadata/pc_metadata.json

@@ -0,0 +1,101 @@
+{
+  "project": "Tele-UMI",
+  "version": "v2",
+  "role": "windows_vive_dual_capture",
+  "created_time_ns": 1792740389683790793,
+  "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_152629_00146/right_hand",
+    "merged_trajectory_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/pick R/session_20261023_152629_00146/right_hand/Merged_Trajectory",
+    "metadata_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/pick R/session_20261023_152629_00146/right_hand/Metadata",
+    "vive_txt_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/pick R/session_20261023_152629_00146/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_152629_00146/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_152629_00146/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_152629_00146/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_152629_00146/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_152629_00146/control/stop_left_hand.flag",
+    "sync_mode": "deferred_arm",
+    "capture_clock": "wall_clock",
+    "capture_start_time_ns": 1792740393000914099,
+    "capture_stop_time_ns": 1792740405050156521,
+    "effective_capture_stop_time_ns": 1792740405050156521,
+    "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_152629_00146/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",
+    "vive_bias": {
+      "x0": -0.1722548007965088,
+      "y0": -0.812099277973175,
+      "z0": -1.2207577228546143,
+      "qx0": 0.045582961147664955,
+      "qy0": 0.8051061137453932,
+      "qz0": -0.047588811031645244,
+      "qw0": 0.5894587723729243
+    },
+    "zero_reference_sample_ns": 1792740393010171488
+  },
+  "data_mark": "FORMAL",
+  "test_artifact": false,
+  "result": {
+    "sample_count": 2409,
+    "invalid_reads": 0,
+    "disconnected_reads": 0,
+    "invalid_pose_reads": 0,
+    "recording_disconnected_reads": 0,
+    "recording_invalid_pose_reads": 0,
+    "started_time_ns": 1792740393004993493,
+    "effective_record_start_time_ns": 1792740393004993493,
+    "stopped_time_ns": 1792740405055035773,
+    "effective_capture_stop_time_ns": 1792740405050156521,
+    "first_sample_time_ns": 1792740393010171488,
+    "last_sample_time_ns": 1792740405049879223,
+    "sample_duration_s": 12.039707735,
+    "sample_timestamp_hz": 200.00485501818537,
+    "artifacts": {
+      "trajectory": {
+        "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/pick R/session_20261023_152629_00146/right_hand/Merged_Trajectory/merged_trajectory.txt",
+        "exists": true,
+        "size_bytes": 265152
+      },
+      "raw_trajectory": {
+        "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/pick R/session_20261023_152629_00146/right_hand/Merged_Trajectory/raw_vive_pose.txt",
+        "exists": true,
+        "size_bytes": 265472
+      },
+      "trajectory_tmp": {
+        "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/pick R/session_20261023_152629_00146/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_152629_00146/right_hand/Merged_Trajectory/raw_vive_pose.txt.part",
+        "exists": false,
+        "size_bytes": 0
+      }
+    }
+  }
+}

pick R/session_20261023_152629_00146/right_hand/RGB_Images/timestamps.csv

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pick R/session_20261023_152629_00146/right_hand/RGB_Images/video.mp4

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pick R/session_20261023_152658_00147/Logs/vive_broker_session.log

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pick R/session_20261023_152658_00147/control/stop_left_hand.flag

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pick R/session_20261023_152658_00147/left_hand/Clamp_Data/clamp_timebase.csv

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pick R/session_20261023_152658_00147/left_hand/Metadata/metadata.json

@@ -0,0 +1,343 @@
+{
+  "project": "Tele-UMI",
+  "version": "v2",
+  "role": "raspberry_pi_capture",
+  "created_time_ns": 1792740436150666410,
+  "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_152658_00147/left_hand/RGB_Images",
+    "clamp_dir": "/home/zhang/teleumi-v2/datasets/pick R/session_20261023_152658_00147/left_hand/Clamp_Data",
+    "metadata_dir": "/home/zhang/teleumi-v2/datasets/pick R/session_20261023_152658_00147/left_hand/Metadata",
+    "video_path": "/home/zhang/teleumi-v2/datasets/pick R/session_20261023_152658_00147/left_hand/RGB_Images/video.mp4",
+    "camera_timestamps_path": "/home/zhang/teleumi-v2/datasets/pick R/session_20261023_152658_00147/left_hand/RGB_Images/timestamps.csv",
+    "clamp_data_path": "/home/zhang/teleumi-v2/datasets/pick R/session_20261023_152658_00147/left_hand/Clamp_Data/clamp_data_tum.txt",
+    "metadata_path": "/home/zhang/teleumi-v2/datasets/pick R/session_20261023_152658_00147/left_hand/Metadata/metadata.json",
+    "clamp_timebase_path": "/home/zhang/teleumi-v2/datasets/pick R/session_20261023_152658_00147/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": 1789138069597043260,
+        "module_import_start_time_ns": 1789138069667145399,
+        "import_log_utils_start_time_ns": 1789138069667147103,
+        "import_log_utils_end_time_ns": 1789138069669229506,
+        "import_as5600_start_time_ns": 1789138069669230395,
+        "import_as5600_end_time_ns": 1789138069759511819,
+        "import_pi_session_start_time_ns": 1789138069759513170,
+        "import_pi_session_end_time_ns": 1789138069907684104,
+        "import_usb_camera_start_time_ns": 1789138069907685049,
+        "import_usb_camera_end_time_ns": 1789138069947767120,
+        "configure_stdio_start_time_ns": 1789138070036950463,
+        "configure_stdio_end_time_ns": 1789138070037323496,
+        "capture_entry_time_ns": 1792740418765975899,
+        "validate_start_time_ns": 1792740419889243053,
+        "session_dir_create_start_time_ns": 1792740418766850482,
+        "session_dir_create_end_time_ns": 1792740418768444705,
+        "as5600_init_start_time_ns": 1792740418772824510,
+        "as5600_init_end_time_ns": 1792740418775305706,
+        "as5600_zero_start_time_ns": 1792740418777115539,
+        "as5600_zero_end_time_ns": 1792740419581703897,
+        "camera_init_start_time_ns": 1792740419583007587,
+        "camera_init_end_time_ns": 1792740419584812901,
+        "camera_start_start_time_ns": 1792740419587483428,
+        "camera_start_end_time_ns": 1792740419588773970,
+        "camera_first_frame_wait_start_time_ns": 1792740419590073419,
+        "camera_first_frame_wait_end_time_ns": 1792740419591347183,
+        "tactile_init_start_time_ns": null,
+        "tactile_init_end_time_ns": null,
+        "ready_time_ns": 1792740419592632151,
+        "armed_time_ns": 1792740419888037399,
+        "waiting_t0_time_ns": 1792740419890762222,
+        "recording_start_time_ns": 1792740422342441948,
+        "stop_request_time_ns": 1792740435197811970,
+        "finalized_time_ns": 1792740436150066287
+      },
+      "last_error": null,
+      "capture_start_time_ns": 1792740422341557898,
+      "capture_stop_time_ns": 1792740436141495551
+    },
+    "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": 1792740422341557898,
+    "capture_stop_time_ns": 1792740436141495551,
+    "effective_capture_stop_time_ns": 1792740436141495551,
+    "capture_start_guard_s": 0.5,
+    "stop_file": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261023_152658_00147.stop",
+    "diagnostics_state_file": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261023_152658_00147.diagnostics.json",
+    "deferred_arm": true,
+    "control_session_id": "session_20261023_152658_00147",
+    "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": 1792740422341557898,
+      "capture_stop_time_ns": 1792740436141495551
+    },
+    "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": 105.380859375,
+    "reference_source": "max_open_init",
+    "zero_angle_deg": 105.380859375,
+    "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": 7.982e-06,
+    "camera_first_frame_ready": true,
+    "effective_record_start_time_ns": 1792740422342418633,
+    "camera_frame_count": 553,
+    "camera_started_time_ns": 1792740419584808475,
+    "camera_stopped_time_ns": 1792740436148917910,
+    "camera_actual_fps": 33.38543506791315,
+    "camera_first_frame_time_ns": 1792740422343821229,
+    "camera_last_frame_time_ns": 1792740436134513657,
+    "camera_frame_timestamp_fps": 40.02699667779147,
+    "camera_diagnostics": {
+      "running": true,
+      "session_open": false,
+      "stream_first_frame_time_ns": 1792738519828130970,
+      "stream_last_frame_time_ns": 1792740436134513657,
+      "capture_count": 663,
+      "capture_error_count": 0,
+      "writer_count": 553,
+      "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": 828,
+    "clamp_first_sample_time_ns": 1792740422352087048,
+    "clamp_last_sample_time_ns": 1792740436135446851,
+    "clamp_actual_hz": 59.99988477555381,
+    "clamp_value_min": 57.58155942215719,
+    "clamp_value_max": 100.0,
+    "as5600_diagnostics": {
+      "queue_size": 600,
+      "queue_depth": 0,
+      "max_queue_depth": 600,
+      "read_count": 24785,
+      "read_error_count": 0,
+      "queue_overrun_count": 16971,
+      "last_read_error": null
+    },
+    "main_loop_iterations": 2930
+  },
+  "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_152658_00147/left_hand/Metadata/pc_metadata.json

@@ -0,0 +1,101 @@
+{
+  "project": "Tele-UMI",
+  "version": "v2",
+  "role": "windows_vive_dual_capture",
+  "created_time_ns": 1792740418744695188,
+  "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_152658_00147/left_hand",
+    "merged_trajectory_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/pick R/session_20261023_152658_00147/left_hand/Merged_Trajectory",
+    "metadata_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/pick R/session_20261023_152658_00147/left_hand/Metadata",
+    "vive_txt_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/pick R/session_20261023_152658_00147/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_152658_00147/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_152658_00147/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_152658_00147/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_152658_00147/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_152658_00147/control/stop_left_hand.flag",
+    "sync_mode": "deferred_arm",
+    "capture_clock": "wall_clock",
+    "capture_start_time_ns": 1792740422341557898,
+    "capture_stop_time_ns": 1792740436141495551,
+    "effective_capture_stop_time_ns": 1792740436141495551,
+    "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_152658_00147/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": {
+      "x0": -0.06333416700363159,
+      "y0": -0.802727997303009,
+      "z0": -0.7590251564979553,
+      "qx0": 0.008917866111744914,
+      "qy0": 0.823923200423908,
+      "qz0": -0.03844117104373371,
+      "qw0": 0.5653258421795561
+    },
+    "zero_reference_sample_ns": 1792740422348046198
+  },
+  "data_mark": "FORMAL",
+  "test_artifact": false,
+  "result": {
+    "sample_count": 2759,
+    "invalid_reads": 0,
+    "disconnected_reads": 0,
+    "invalid_pose_reads": 0,
+    "recording_disconnected_reads": 0,
+    "recording_invalid_pose_reads": 0,
+    "started_time_ns": 1792740422342907553,
+    "effective_record_start_time_ns": 1792740422342907553,
+    "stopped_time_ns": 1792740436143143116,
+    "effective_capture_stop_time_ns": 1792740436141495551,
+    "first_sample_time_ns": 1792740422348046198,
+    "last_sample_time_ns": 1792740436137932761,
+    "sample_duration_s": 13.789886563,
+    "sample_timestamp_hz": 200.00164522020515,
+    "artifacts": {
+      "trajectory": {
+        "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/pick R/session_20261023_152658_00147/left_hand/Merged_Trajectory/merged_trajectory.txt",
+        "exists": true,
+        "size_bytes": 299257
+      },
+      "raw_trajectory": {
+        "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/pick R/session_20261023_152658_00147/left_hand/Merged_Trajectory/raw_vive_pose.txt",
+        "exists": true,
+        "size_bytes": 303532
+      },
+      "trajectory_tmp": {
+        "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/pick R/session_20261023_152658_00147/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_152658_00147/left_hand/Merged_Trajectory/raw_vive_pose.txt.part",
+        "exists": false,
+        "size_bytes": 0
+      }
+    }
+  }
+}

pick R/session_20261023_152658_00147/left_hand/RGB_Images/timestamps.csv

@@ -0,0 +1,554 @@
+frame_id,timestamp_ns,monotonic_ns
+0,1792740422343821229,1987179458172
+1,1792740422370722071,1987206358829
+2,1792740422393385403,1987229022623
+3,1792740422426197552,1987261834847
+4,1792740422443395053,1987279032089
+5,1792740422468557636,1987304194690
+6,1792740422493416426,1987329053146
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+8,1792740422545607182,1987381246051
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+10,1792740422593256210,1987428893653
+11,1792740422618605605,1987454243178
+12,1792740422643258657,1987478895488
+13,1792740422668538312,1987504175477
+14,1792740422693168549,1987528805492
+15,1792740422718458834,1987554095814
+16,1792740422743632065,1987579269526
+17,1792740422768478540,1987604115464
+18,1792740422793109128,1987628745941
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pick R/session_20261023_152658_00147/right_hand/Clamp_Data/clamp_timebase.csv

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pick R/session_20261023_152658_00147/right_hand/Metadata/metadata.json

@@ -0,0 +1,343 @@
+{
+  "project": "Tele-UMI",
+  "version": "v2",
+  "role": "raspberry_pi_capture",
+  "created_time_ns": 1792740436148355897,
+  "platform": {
+    "system": "Linux",
+    "release": "6.12.75+rpt-rpi-2712",
+    "machine": "aarch64"
+  },
+  "paths": {
+    "run_dir": "/home/zhang/teleumi-v2/datasets/pick R/session_20261023_152658_00147/right_hand",
+    "rgb_dir": "/home/zhang/teleumi-v2/datasets/pick R/session_20261023_152658_00147/right_hand/RGB_Images",
+    "clamp_dir": "/home/zhang/teleumi-v2/datasets/pick R/session_20261023_152658_00147/right_hand/Clamp_Data",
+    "metadata_dir": "/home/zhang/teleumi-v2/datasets/pick R/session_20261023_152658_00147/right_hand/Metadata",
+    "video_path": "/home/zhang/teleumi-v2/datasets/pick R/session_20261023_152658_00147/right_hand/RGB_Images/video.mp4",
+    "camera_timestamps_path": "/home/zhang/teleumi-v2/datasets/pick R/session_20261023_152658_00147/right_hand/RGB_Images/timestamps.csv",
+    "clamp_data_path": "/home/zhang/teleumi-v2/datasets/pick R/session_20261023_152658_00147/right_hand/Clamp_Data/clamp_data_tum.txt",
+    "metadata_path": "/home/zhang/teleumi-v2/datasets/pick R/session_20261023_152658_00147/right_hand/Metadata/metadata.json",
+    "clamp_timebase_path": "/home/zhang/teleumi-v2/datasets/pick R/session_20261023_152658_00147/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": 1792740418438265801,
+        "validate_start_time_ns": 1792740420075976300,
+        "session_dir_create_start_time_ns": 1792740418439144387,
+        "session_dir_create_end_time_ns": 1792740418440205769,
+        "as5600_init_start_time_ns": 1792740418441673018,
+        "as5600_init_end_time_ns": 1792740418442656455,
+        "as5600_zero_start_time_ns": 1792740418443987057,
+        "as5600_zero_end_time_ns": 1792740419249791325,
+        "camera_init_start_time_ns": 1792740419251282222,
+        "camera_init_end_time_ns": 1792740419255498506,
+        "camera_start_start_time_ns": 1792740419256713350,
+        "camera_start_end_time_ns": 1792740419258015877,
+        "camera_first_frame_wait_start_time_ns": 1792740419259953790,
+        "camera_first_frame_wait_end_time_ns": 1792740419261422112,
+        "tactile_init_start_time_ns": null,
+        "tactile_init_end_time_ns": null,
+        "ready_time_ns": 1792740419262624011,
+        "armed_time_ns": 1792740419856202215,
+        "waiting_t0_time_ns": 1792740420081484853,
+        "recording_start_time_ns": 1792740422342945285,
+        "stop_request_time_ns": 1792740435266253764,
+        "finalized_time_ns": 1792740436146368745
+      },
+      "last_error": null,
+      "capture_start_time_ns": 1792740422341557898,
+      "capture_stop_time_ns": 1792740436141495551
+    },
+    "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": 1792740422341557898,
+    "capture_stop_time_ns": 1792740436141495551,
+    "effective_capture_stop_time_ns": 1792740436141495551,
+    "capture_start_guard_s": 0.5,
+    "stop_file": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261023_152658_00147.stop",
+    "diagnostics_state_file": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261023_152658_00147.diagnostics.json",
+    "deferred_arm": true,
+    "control_session_id": "session_20261023_152658_00147",
+    "control_generation": 147,
+    "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��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": 1792740422341557898,
+      "capture_stop_time_ns": 1792740436141495551
+    },
+    "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": 279.84375,
+    "reference_source": "max_open_init",
+    "zero_angle_deg": 279.84375,
+    "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": 6.537e-06,
+    "camera_first_frame_ready": true,
+    "effective_record_start_time_ns": 1792740422342917341,
+    "camera_frame_count": 552,
+    "camera_started_time_ns": 1792740419255490118,
+    "camera_stopped_time_ns": 1792740436144254463,
+    "camera_actual_fps": 32.68445155156791,
+    "camera_first_frame_time_ns": 1792740422357918845,
+    "camera_last_frame_time_ns": 1792740436123540185,
+    "camera_frame_timestamp_fps": 40.02725241314825,
+    "camera_diagnostics": {
+      "running": true,
+      "session_open": false,
+      "stream_first_frame_time_ns": 1792733464273583056,
+      "stream_last_frame_time_ns": 1792740436123540185,
+      "capture_count": 676,
+      "capture_error_count": 0,
+      "writer_count": 552,
+      "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": 828,
+    "clamp_first_sample_time_ns": 1792740422352619216,
+    "clamp_last_sample_time_ns": 1792740436135940282,
+    "clamp_actual_hz": 60.00005340077305,
+    "clamp_value_min": 66.21879845384464,
+    "clamp_value_max": 100.0,
+    "as5600_diagnostics": {
+      "queue_size": 600,
+      "queue_depth": 0,
+      "max_queue_depth": 600,
+      "read_count": 1865,
+      "read_error_count": 0,
+      "queue_overrun_count": 203,
+      "last_read_error": null
+    },
+    "main_loop_iterations": 2896
+  },
+  "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_152658_00147/right_hand/Metadata/pc_metadata.json

@@ -0,0 +1,101 @@
+{
+  "project": "Tele-UMI",
+  "version": "v2",
+  "role": "windows_vive_dual_capture",
+  "created_time_ns": 1792740418744715069,
+  "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_152658_00147/right_hand",
+    "merged_trajectory_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/pick R/session_20261023_152658_00147/right_hand/Merged_Trajectory",
+    "metadata_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/pick R/session_20261023_152658_00147/right_hand/Metadata",
+    "vive_txt_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/pick R/session_20261023_152658_00147/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_152658_00147/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_152658_00147/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_152658_00147/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_152658_00147/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_152658_00147/control/stop_left_hand.flag",
+    "sync_mode": "deferred_arm",
+    "capture_clock": "wall_clock",
+    "capture_start_time_ns": 1792740422341557898,
+    "capture_stop_time_ns": 1792740436141495551,
+    "effective_capture_stop_time_ns": 1792740436141495551,
+    "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_152658_00147/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",
+    "vive_bias": {
+      "x0": -0.18716822564601898,
+      "y0": -0.8108084797859192,
+      "z0": -1.2239044904708862,
+      "qx0": 0.03725515555203687,
+      "qy0": 0.7936746044086583,
+      "qz0": -0.06297316893084351,
+      "qw0": 0.6039263661212024
+    },
+    "zero_reference_sample_ns": 1792740422348046198
+  },
+  "data_mark": "FORMAL",
+  "test_artifact": false,
+  "result": {
+    "sample_count": 2759,
+    "invalid_reads": 0,
+    "disconnected_reads": 0,
+    "invalid_pose_reads": 0,
+    "recording_disconnected_reads": 0,
+    "recording_invalid_pose_reads": 0,
+    "started_time_ns": 1792740422342907553,
+    "effective_record_start_time_ns": 1792740422342907553,
+    "stopped_time_ns": 1792740436143143116,
+    "effective_capture_stop_time_ns": 1792740436141495551,
+    "first_sample_time_ns": 1792740422348046198,
+    "last_sample_time_ns": 1792740436137932761,
+    "sample_duration_s": 13.789886563,
+    "sample_timestamp_hz": 200.00164522020515,
+    "artifacts": {
+      "trajectory": {
+        "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/pick R/session_20261023_152658_00147/right_hand/Merged_Trajectory/merged_trajectory.txt",
+        "exists": true,
+        "size_bytes": 303074
+      },
+      "raw_trajectory": {
+        "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/pick R/session_20261023_152658_00147/right_hand/Merged_Trajectory/raw_vive_pose.txt",
+        "exists": true,
+        "size_bytes": 304284
+      },
+      "trajectory_tmp": {
+        "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/pick R/session_20261023_152658_00147/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_152658_00147/right_hand/Merged_Trajectory/raw_vive_pose.txt.part",
+        "exists": false,
+        "size_bytes": 0
+      }
+    }
+  }
+}

pick R/session_20261023_152658_00147/right_hand/RGB_Images/timestamps.csv

@@ -0,0 +1,553 @@
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pick R/session_20261023_152658_00147/right_hand/RGB_Images/video.mp4

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pick R/session_20261023_152749_00149/Logs/vive_broker_session.log

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pick R/session_20261023_152749_00149/left_hand/Metadata/metadata.json

@@ -0,0 +1,343 @@
+{
+  "project": "Tele-UMI",
+  "version": "v2",
+  "role": "raspberry_pi_capture",
+  "created_time_ns": 1792740485300165076,
+  "platform": {
+    "system": "Linux",
+    "release": "6.18.34+rpt-rpi-2712",
+    "machine": "aarch64"
+  },
+  "paths": {
+    "run_dir": "/home/zhang/teleumi-v2/datasets/pick R/session_20261023_152749_00149/left_hand",
+    "rgb_dir": "/home/zhang/teleumi-v2/datasets/pick R/session_20261023_152749_00149/left_hand/RGB_Images",
+    "clamp_dir": "/home/zhang/teleumi-v2/datasets/pick R/session_20261023_152749_00149/left_hand/Clamp_Data",
+    "metadata_dir": "/home/zhang/teleumi-v2/datasets/pick R/session_20261023_152749_00149/left_hand/Metadata",
+    "video_path": "/home/zhang/teleumi-v2/datasets/pick R/session_20261023_152749_00149/left_hand/RGB_Images/video.mp4",
+    "camera_timestamps_path": "/home/zhang/teleumi-v2/datasets/pick R/session_20261023_152749_00149/left_hand/RGB_Images/timestamps.csv",
+    "clamp_data_path": "/home/zhang/teleumi-v2/datasets/pick R/session_20261023_152749_00149/left_hand/Clamp_Data/clamp_data_tum.txt",
+    "metadata_path": "/home/zhang/teleumi-v2/datasets/pick R/session_20261023_152749_00149/left_hand/Metadata/metadata.json",
+    "clamp_timebase_path": "/home/zhang/teleumi-v2/datasets/pick R/session_20261023_152749_00149/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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+        "sensor_hz": 10.0,
+        "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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+          "max_orientation_deviation_deg": 3.0
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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": {
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+        "session_dir_create_end_time_ns": 1792740469154893569,
+        "as5600_init_start_time_ns": 1792740469156040853,
+        "as5600_init_end_time_ns": 1792740469158859101,
+        "as5600_zero_start_time_ns": 1792740469161452240,
+        "as5600_zero_end_time_ns": 1792740469969841595,
+        "camera_init_start_time_ns": 1792740469971711501,
+        "camera_init_end_time_ns": 1792740469975640662,
+        "camera_start_start_time_ns": 1792740469976924482,
+        "camera_start_end_time_ns": 1792740469978681445,
+        "camera_first_frame_wait_start_time_ns": 1792740469980038708,
+        "camera_first_frame_wait_end_time_ns": 1792740469981345194,
+        "tactile_init_start_time_ns": null,
+        "tactile_init_end_time_ns": null,
+        "ready_time_ns": 1792740469982534200,
+        "armed_time_ns": 1792740470172398299,
+        "waiting_t0_time_ns": 1792740470177131841,
+        "recording_start_time_ns": 1792740472651849320,
+        "stop_request_time_ns": 1792740484368841999,
+        "finalized_time_ns": 1792740485299570212
+      },
+      "last_error": null,
+      "capture_start_time_ns": 1792740472651167527,
+      "capture_stop_time_ns": 1792740485292677534
+    },
+    "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": 1792740472651167527,
+    "capture_stop_time_ns": 1792740485292677534,
+    "effective_capture_stop_time_ns": 1792740485292677534,
+    "capture_start_guard_s": 0.5,
+    "stop_file": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261023_152749_00149.stop",
+    "diagnostics_state_file": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261023_152749_00149.diagnostics.json",
+    "deferred_arm": true,
+    "control_session_id": "session_20261023_152749_00149",
+    "control_generation": 34,
+    "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": 1792740472651167527,
+      "capture_stop_time_ns": 1792740485292677534
+    },
+    "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": 102.69750478263767,
+    "reference_source": "max_open_init",
+    "zero_angle_deg": 102.69750478263767,
+    "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": 6.352e-06,
+    "camera_first_frame_ready": true,
+    "effective_record_start_time_ns": 1792740472651823561,
+    "camera_frame_count": 504,
+    "camera_started_time_ns": 1792740469975635588,
+    "camera_stopped_time_ns": 1792740485298009155,
+    "camera_actual_fps": 32.893076114882845,
+    "camera_first_frame_time_ns": 1792740472661442718,
+    "camera_last_frame_time_ns": 1792740485252937155,
+    "camera_frame_timestamp_fps": 39.94760133649734,
+    "camera_diagnostics": {
+      "running": true,
+      "session_open": false,
+      "stream_first_frame_time_ns": 1792738519828130970,
+      "stream_last_frame_time_ns": 1792740485278082090,
+      "capture_count": 612,
+      "capture_error_count": 0,
+      "writer_count": 505,
+      "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": 759,
+    "clamp_first_sample_time_ns": 1792740472656431957,
+    "clamp_last_sample_time_ns": 1792740485289766187,
+    "clamp_actual_hz": 59.9999957414251,
+    "clamp_value_min": 48.8542267418539,
+    "clamp_value_max": 100.0,
+    "as5600_diagnostics": {
+      "queue_size": 600,
+      "queue_depth": 0,
+      "max_queue_depth": 485,
+      "read_count": 1454,
+      "read_error_count": 0,
+      "queue_overrun_count": 0,
+      "last_read_error": null
+    },
+    "main_loop_iterations": 2728
+  },
+  "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_152749_00149/left_hand/Metadata/pc_metadata.json

@@ -0,0 +1,101 @@
+{
+  "project": "Tele-UMI",
+  "version": "v2",
+  "role": "windows_vive_dual_capture",
+  "created_time_ns": 1792740469157653127,
+  "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_152749_00149/left_hand",
+    "merged_trajectory_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/pick R/session_20261023_152749_00149/left_hand/Merged_Trajectory",
+    "metadata_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/pick R/session_20261023_152749_00149/left_hand/Metadata",
+    "vive_txt_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/pick R/session_20261023_152749_00149/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_152749_00149/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_152749_00149/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_152749_00149/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_152749_00149/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_152749_00149/control/stop_left_hand.flag",
+    "sync_mode": "deferred_arm",
+    "capture_clock": "wall_clock",
+    "capture_start_time_ns": 1792740472651167527,
+    "capture_stop_time_ns": 1792740485292677534,
+    "effective_capture_stop_time_ns": 1792740485292677534,
+    "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_152749_00149/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": {
+      "x0": -0.06346944719552994,
+      "y0": -0.8016812801361084,
+      "z0": -0.7685458660125732,
+      "qx0": 0.036050588637558716,
+      "qy0": 0.7994158267269181,
+      "qz0": -0.05382184929715979,
+      "qw0": 0.5972753967606881
+    },
+    "zero_reference_sample_ns": 1792740472657212971
+  },
+  "data_mark": "FORMAL",
+  "test_artifact": false,
+  "result": {
+    "sample_count": 2528,
+    "invalid_reads": 0,
+    "disconnected_reads": 0,
+    "invalid_pose_reads": 0,
+    "recording_disconnected_reads": 0,
+    "recording_invalid_pose_reads": 0,
+    "started_time_ns": 1792740472651965177,
+    "effective_record_start_time_ns": 1792740472651965177,
+    "stopped_time_ns": 1792740485297161434,
+    "effective_capture_stop_time_ns": 1792740485292677534,
+    "first_sample_time_ns": 1792740472657212971,
+    "last_sample_time_ns": 1792740485291977033,
+    "sample_duration_s": 12.634764062,
+    "sample_timestamp_hz": 200.00373474326614,
+    "artifacts": {
+      "trajectory": {
+        "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/pick R/session_20261023_152749_00149/left_hand/Merged_Trajectory/merged_trajectory.txt",
+        "exists": true,
+        "size_bytes": 273697
+      },
+      "raw_trajectory": {
+        "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/pick R/session_20261023_152749_00149/left_hand/Merged_Trajectory/raw_vive_pose.txt",
+        "exists": true,
+        "size_bytes": 277629
+      },
+      "trajectory_tmp": {
+        "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/pick R/session_20261023_152749_00149/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_152749_00149/left_hand/Merged_Trajectory/raw_vive_pose.txt.part",
+        "exists": false,
+        "size_bytes": 0
+      }
+    }
+  }
+}

pick R/session_20261023_152749_00149/left_hand/RGB_Images/timestamps.csv

@@ -0,0 +1,506 @@
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pick R/session_20261023_152749_00149/left_hand/RGB_Images/video.mp4

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pick R/session_20261023_152749_00149/right_hand/Clamp_Data/clamp_data_tum.txt

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pick R/session_20261023_152749_00149/right_hand/Clamp_Data/clamp_timebase.csv

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pick R/session_20261023_152749_00149/right_hand/Metadata/metadata.json

@@ -0,0 +1,343 @@
+{
+  "project": "Tele-UMI",
+  "version": "v2",
+  "role": "raspberry_pi_capture",
+  "created_time_ns": 1792740485310080878,
+  "platform": {
+    "system": "Linux",
+    "release": "6.12.75+rpt-rpi-2712",
+    "machine": "aarch64"
+  },
+  "paths": {
+    "run_dir": "/home/zhang/teleumi-v2/datasets/pick R/session_20261023_152749_00149/right_hand",
+    "rgb_dir": "/home/zhang/teleumi-v2/datasets/pick R/session_20261023_152749_00149/right_hand/RGB_Images",
+    "clamp_dir": "/home/zhang/teleumi-v2/datasets/pick R/session_20261023_152749_00149/right_hand/Clamp_Data",
+    "metadata_dir": "/home/zhang/teleumi-v2/datasets/pick R/session_20261023_152749_00149/right_hand/Metadata",
+    "video_path": "/home/zhang/teleumi-v2/datasets/pick R/session_20261023_152749_00149/right_hand/RGB_Images/video.mp4",
+    "camera_timestamps_path": "/home/zhang/teleumi-v2/datasets/pick R/session_20261023_152749_00149/right_hand/RGB_Images/timestamps.csv",
+    "clamp_data_path": "/home/zhang/teleumi-v2/datasets/pick R/session_20261023_152749_00149/right_hand/Clamp_Data/clamp_data_tum.txt",
+    "metadata_path": "/home/zhang/teleumi-v2/datasets/pick R/session_20261023_152749_00149/right_hand/Metadata/metadata.json",
+    "clamp_timebase_path": "/home/zhang/teleumi-v2/datasets/pick R/session_20261023_152749_00149/right_hand/Clamp_Data/clamp_timebase.csv"
+  },
+  "config": {
+    "project_config_snapshot": {
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+      "network": {
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+        "left_pi_host": "192.168.157.6",
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+        "left_pi_port": 8765,
+        "right_pi_port": 8765,
+        "pi_ssh_user": "zhang",
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+        "pi_data_root": "/home/zhang/teleumi-v2/datasets"
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+        "vive_tracker_serial": "LHR-F47559F6"
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+        "role": "right",
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+      "_source": {
+        "path": "/home/zhang/TeleUMI/config/teleumi_config.json"
+      }
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+        "ready_time_ns": 1792740470035237107,
+        "armed_time_ns": 1792740470170945679,
+        "waiting_t0_time_ns": 1792740470177543762,
+        "recording_start_time_ns": 1792740472653977202,
+        "stop_request_time_ns": 1792740484432272104,
+        "finalized_time_ns": 1792740485309108996
+      },
+      "last_error": null,
+      "capture_start_time_ns": 1792740472651167527,
+      "capture_stop_time_ns": 1792740485292677534
+    },
+    "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": 1792740472651167527,
+    "capture_stop_time_ns": 1792740485292677534,
+    "effective_capture_stop_time_ns": 1792740485292677534,
+    "capture_start_guard_s": 0.5,
+    "stop_file": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261023_152749_00149.stop",
+    "diagnostics_state_file": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261023_152749_00149.diagnostics.json",
+    "deferred_arm": true,
+    "control_session_id": "session_20261023_152749_00149",
+    "control_generation": 149,
+    "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��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": 1792740472651167527,
+      "capture_stop_time_ns": 1792740485292677534
+    },
+    "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": 280.8984375,
+    "reference_source": "max_open_init",
+    "zero_angle_deg": 280.8984375,
+    "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": 6.166e-06,
+    "camera_first_frame_ready": true,
+    "effective_record_start_time_ns": 1792740472653961220,
+    "camera_frame_count": 505,
+    "camera_started_time_ns": 1792740470026749816,
+    "camera_stopped_time_ns": 1792740485302741467,
+    "camera_actual_fps": 33.05841031714243,
+    "camera_first_frame_time_ns": 1792740472675571474,
+    "camera_last_frame_time_ns": 1792740485266719075,
+    "camera_frame_timestamp_fps": 40.02812261210979,
+    "camera_diagnostics": {
+      "running": true,
+      "session_open": false,
+      "stream_first_frame_time_ns": 1792733464273583056,
+      "stream_last_frame_time_ns": 1792740485292312504,
+      "capture_count": 612,
+      "capture_error_count": 0,
+      "writer_count": 506,
+      "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": 759,
+    "clamp_first_sample_time_ns": 1792740472656943625,
+    "clamp_last_sample_time_ns": 1792740485290302963,
+    "clamp_actual_hz": 59.99987649524103,
+    "clamp_value_min": 67.75430761503353,
+    "clamp_value_max": 100.0,
+    "as5600_diagnostics": {
+      "queue_size": 600,
+      "queue_depth": 0,
+      "max_queue_depth": 489,
+      "read_count": 1454,
+      "read_error_count": 0,
+      "queue_overrun_count": 0,
+      "last_read_error": null
+    },
+    "main_loop_iterations": 2727
+  },
+  "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_152749_00149/right_hand/Metadata/pc_metadata.json

@@ -0,0 +1,101 @@
+{
+  "project": "Tele-UMI",
+  "version": "v2",
+  "role": "windows_vive_dual_capture",
+  "created_time_ns": 1792740469157667358,
+  "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_152749_00149/right_hand",
+    "merged_trajectory_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/pick R/session_20261023_152749_00149/right_hand/Merged_Trajectory",
+    "metadata_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/pick R/session_20261023_152749_00149/right_hand/Metadata",
+    "vive_txt_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/pick R/session_20261023_152749_00149/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_152749_00149/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_152749_00149/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_152749_00149/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_152749_00149/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_152749_00149/control/stop_left_hand.flag",
+    "sync_mode": "deferred_arm",
+    "capture_clock": "wall_clock",
+    "capture_start_time_ns": 1792740472651167527,
+    "capture_stop_time_ns": 1792740485292677534,
+    "effective_capture_stop_time_ns": 1792740485292677534,
+    "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_152749_00149/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",
+    "vive_bias": {
+      "x0": -0.19647221267223358,
+      "y0": -0.8104342222213745,
+      "z0": -1.2307894229888916,
+      "qx0": 0.02331464061406224,
+      "qy0": 0.7472218667765091,
+      "qz0": -0.04557673828779198,
+      "qw0": 0.6625999322903013
+    },
+    "zero_reference_sample_ns": 1792740472657212971
+  },
+  "data_mark": "FORMAL",
+  "test_artifact": false,
+  "result": {
+    "sample_count": 2528,
+    "invalid_reads": 0,
+    "disconnected_reads": 0,
+    "invalid_pose_reads": 0,
+    "recording_disconnected_reads": 0,
+    "recording_invalid_pose_reads": 0,
+    "started_time_ns": 1792740472651965177,
+    "effective_record_start_time_ns": 1792740472651965177,
+    "stopped_time_ns": 1792740485297161434,
+    "effective_capture_stop_time_ns": 1792740485292677534,
+    "first_sample_time_ns": 1792740472657212971,
+    "last_sample_time_ns": 1792740485291977033,
+    "sample_duration_s": 12.634764062,
+    "sample_timestamp_hz": 200.00373474326614,
+    "artifacts": {
+      "trajectory": {
+        "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/pick R/session_20261023_152749_00149/right_hand/Merged_Trajectory/merged_trajectory.txt",
+        "exists": true,
+        "size_bytes": 276313
+      },
+      "raw_trajectory": {
+        "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/pick R/session_20261023_152749_00149/right_hand/Merged_Trajectory/raw_vive_pose.txt",
+        "exists": true,
+        "size_bytes": 278406
+      },
+      "trajectory_tmp": {
+        "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/pick R/session_20261023_152749_00149/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_152749_00149/right_hand/Merged_Trajectory/raw_vive_pose.txt.part",
+        "exists": false,
+        "size_bytes": 0
+      }
+    }
+  }
+}

pick R/session_20261023_152749_00149/right_hand/RGB_Images/timestamps.csv

@@ -0,0 +1,507 @@
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