{
  "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"
  }
}