Supported File Types

Master Annotator works with a focused set of file formats optimized for robot trajectory annotation workflows.

Overview

CSV — Trajectory Data

The primary input format. CSV files contain your robot's motion data as a time series — one row per frame, one column per measurement.

• What you provide: A .csv file with headers, joint angles in radians, and optional end-effector positions
• What happens: The file is validated, frames are counted, and the dataset becomes available for annotation
• Limits: 500 MB max size, 100 columns max, 50-char column name limit

See CSV Format for the full specification.

MP4 — Video Recordings

Optional video files that can be paired with CSV datasets for side-by-side visual verification during annotation.

• What you provide: An .mp4 video (H.264 recommended) of the robot performing the recorded trajectory
• What happens: The video is stored and synchronized with the CSV data for frame-aligned playback
• Playback: Displayed in the labeling interface, advancing in sync with the timeline

See Video Upload for synchronization details.

URDF — Robot Models

URDF (Unified Robot Description Format) files define the physical structure of robot arms — links, joints, and 3D meshes. Master Annotator includes pre-built URDF models for supported robots:

• KUKA iiwa14 (7-DOF)
• Franka Emika Panda (7-DOF)
• Kinova J2S6S200 (6-DOF)
• Universal Robots UR10 (6-DOF)
• Universal Robots UR5 with gripper (6-DOF)
• dVRK Classic PSM1 — SCA tool (7-DOF)

You do not need to upload URDF files — they are bundled with the platform. Simply select your robot type when configuring a project, and the corresponding URDF model and meshes are loaded automatically.

See URDF Models for details on each supported robot.

Exported Files

When you export labeled data, Master Annotator generates a .csv file containing your original data columns plus the annotation columns. The export format is configurable — see CSV Export for details.