Update README.md

README.md

@@ -29,11 +29,37 @@ Dataset of tactile images collected over grasping common objects labelled with t
 Dataset Format
 ---------------
 
-Data is split into folders using the structure: /OBJECT_NAME/GRASP_NUMBER/AUGMENTATION_NUMBER/___.pkl
+Each object is grasped a number of times, and each of these grasps is downsampled to 3 frames and shifted to create different data augmentations of the same grasp. Collected data is split into folders according to the following structure...
 
-Each object is grasped a number of times, and each of these grasps is downsampled to 3 frames and shifted to create different data augmentations of the same grasp.
+```
+gelsight_youngs_modulus_dataset
+└── {object_name}
+    ├── metadata.json
+    └── grasp={grasp_number}
+        └── augmentation={grasp_number}
+             ├── RGB.pkl
+             ├── RGB_markers.pkl
+             ├── depth.pkl
+             ├── depth_markers.pkl
+             ├── forces.pkl
+             ├── widths.pkl
+             ├── elastic_estimate.pkl
+             └── hertz_estimata.pkl
+```
 
 In the OBJECT_NAME folder, metadata for each object is provided in a .json file, including the object's shape, material, Young's modulus, and Shore hardness.
+```
+metadata = {
+    'object_name':        {object_name}, # [str]
+    'youngs_modulus':     0.0, # [Pa]
+    'material':           '', # [str]
+    'shape':              '', # [str]
+    'shore_00_hardness':  None, # [/]
+    'shore_A_hardness':   None, # [/]
+    'shore_D_hardness':   None, # [/]
+    'used_in_training':   True # [bool]
+}
+```
 
 In the AUGMENTATION_NUMBER folder, data is provided in .pkl files. You will find the following named conventions...
 - Tactile RGB images (without markers): RGB.pkl