C. Elegans Cell Lineage as a text table

Dear all,

the Pedigree Browser of WormBase allows for easy browsing of the C. Elegans cell lineage.

For my science project, I have to process this tree automatically and need the same information in a computer-readable format.
Is there a location, where I can download the full lineage as table or similar? As an alternative, how can I extract the lineage from the WormBase database?