| { |
| "metadata_file": "<object_id>/_metadata.json", |
| "sample_key": "global_index as a string", |
| "fields": { |
| "pre-grasp": "Pre-grasp hand and object poses before contact.", |
| "viewMat": "Visual camera view matrix stored with each sample.", |
| "visCamProjMat": "Visual camera projection matrix.", |
| "tacCamProjMat": "Tactile camera projection matrix.", |
| "grasping": "Left/right tactile sensor poses and object pose during grasping.", |
| "isPositive": "Boolean grasp-stability label. true means successful/stable grasp.", |
| "graspnet-score": "Original GraspNet score associated with the sampled grasp." |
| }, |
| "sensor_files": { |
| "tactile_rgb_left": "<object_id>/tac_rgb/<global_index>_l.png", |
| "tactile_rgb_right": "<object_id>/tac_rgb/<global_index>_r.png", |
| "tactile_depth_left": "<object_id>/tac_dep/<global_index>_l.png", |
| "tactile_depth_right": "<object_id>/tac_dep/<global_index>_r.png", |
| "visual_rgb": "<object_id>/vis_rgb/<global_index>.png", |
| "visual_depth": "<object_id>/vis_dep/<global_index>.png", |
| "visual_segmentation": "<object_id>/vis_seg/<global_index>.png" |
| }, |
| "split_files": { |
| "train": "train.csv with columns id,global_index", |
| "test": "test.csv with columns id,global_index" |
| } |
| } |
|
|
