Joint space calibration data for dVRK Si

# Data for dVRK Si tool calibration

Four joints (Joint 3, 4, 5 and 6) are calibrated. All data is .csv files. Each joint has 15 groups of data used for training and validating during training, stored in the folder "Si_Joint?". 

Testing set is stored in the folder "Test_dataset", with Joint index in their file names.

For both training dataset and testing set, each file has two columns. The first one is the commands given to the robot, which is the output of the network. The second one is the real joint angle measured corrosponding to the commands, which is the input of the network.

All data is this data set is collected with the same permanent cautery spatula.

# dVRK Si型工具校准数据集

本次校准覆盖关节3、4、5与6共4个关节。所有数据均为.csv格式文件。每个关节对应15组用于训练及验证阶段的数据，存储于"Si_Joint?"文件夹中。

测试集存储于"Test_dataset"文件夹内，其文件名包含对应关节的索引标识。

无论是训练集还是测试集，单个文件均包含两列数据：第一列为向机器人下发的控制指令，即模型的输出；第二列为与该指令对应的实测关节角度，即模型的输入。

本数据集的全部数据均采用同一固定式电灼刮刀（permanent cautery spatula）采集。