# 数据集索引样例：真实采集/ingest 每次标定会话应输出同类文件。
# 具体转换命令见 src/docs/algorithm_template_contract.md。

schema_version: 1

session:
  session_id: session_001
  site_id: site_a
  vehicle_id: agv_001
  dataset_root: /data/agv_calib/site_a/session_001
  data_window_start_timestamp_us: 1770000000000000
  data_window_end_timestamp_us: 1770000120000000

data_inputs:
  external:
    external_observation_files:
      - external/external_observations.csv
      - external/truth_trajectory.csv
    marker_observation_files:
      - external/marker_observations.json
    time_sync_diagnostic_files:
      - external/time_sync_report.json

  chassis:
    chassis_motion_data_files:
      - chassis/chassis_motion.csv
    actuator_command_files:
      - chassis/actuator_commands.csv
    truth_trajectory_files:
      - external/truth_trajectory.csv

  control:
    control_evaluation_data_files:
      - control/control_eval.csv
    reference_signal_files:
      - control/reference_signal.csv
    chassis_response_files:
      - control/chassis_response.csv
    truth_trajectory_files:
      - external/truth_trajectory.csv

  sensor:
    image_sample_files:
      - sensor/front_camera/images.yaml
      - sensor/down_camera/images.yaml
    imu_sample_files:
      - sensor/imu/imu_samples.mcap
    pointcloud_sample_files:
      - sensor/lidar_3d/pointclouds.mcap
    laser_scan_sample_files:
      - sensor/lidar_2d/scans.mcap
    target_detection_files:
      - sensor/front_camera/charuco_detections.json
      - sensor/down_camera/charuco_detections.json
    robot_pose_sample_files:
      - sensor/hand_eye/robot_poses.csv
