Document episode CSV schema
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README.md
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@@ -82,6 +82,30 @@ for csv_path in root.rglob("episode.csv"):
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csv_path.write_text(text)
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```
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Additional release files:
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- `manifest.csv`: archive-level manifest.
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csv_path.write_text(text)
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```
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## Episode CSV Schema
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Each episode folder contains an `episode.csv` file. This is the synchronized table used for learning. Other CSV files in the raw folders contain unsynchronized sensor logs and are not required for the standard learning setup.
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The `episode.csv` columns are:
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| Column | Description |
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| --- | --- |
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| `frameLeftRectifiedPath` | Path to the left rectified endoscopic RGB image. These paths use the original acquisition prefix and should be rewritten after extraction. |
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| `frameRightRectifiedPath` | Path to the right rectified endoscopic RGB image. These paths use the original acquisition prefix and should be rewritten after extraction. |
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| `base_to_camera_quat_x` | Quaternion x component for the rotation from robot base frame to camera frame. |
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| `base_to_camera_quat_y` | Quaternion y component for the rotation from robot base frame to camera frame. |
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| `base_to_camera_quat_z` | Quaternion z component for the rotation from robot base frame to camera frame. |
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| `base_to_camera_quat_w` | Quaternion w component for the rotation from robot base frame to camera frame. |
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| `open` | Boolean gripper state. `True` means open gripper and `False` means closed gripper. |
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| `relative_tip_position_x` | Tool-tip x position in meters, relative to the tool-tip position when the robot controller was started, where the initial position is `(0, 0, 0)`. |
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| `relative_tip_position_y` | Tool-tip y position in meters, relative to the tool-tip position when the robot controller was started, where the initial position is `(0, 0, 0)`. |
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| `relative_tip_position_z` | Tool-tip z position in meters, relative to the tool-tip position when the robot controller was started, where the initial position is `(0, 0, 0)`. |
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| `camera_frame_tip_position_x` | Tool-tip x position in meters expressed in the camera-oriented frame. The rotational component is valid, but no calibrated translation vector is provided. |
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| `camera_frame_tip_position_y` | Tool-tip y position in meters expressed in the camera-oriented frame. The rotational component is valid, but no calibrated translation vector is provided. |
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| `camera_frame_tip_position_z` | Tool-tip z position in meters expressed in the camera-oriented frame. The rotational component is valid, but no calibrated translation vector is provided. |
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| `task_phase` | Zero-indexed task phase label: `0` idle, `1` approach and grasp, `2` hold, `3` retract, `4` maintain tension. |
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| `language` | Language instruction associated with the task. |
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Additional release files:
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- `manifest.csv`: archive-level manifest.
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