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| { |
| "object_name": "rectangular block", |
| "collision_position": "bottom", |
| "collision_material": "silicone", |
| "grasp_position": "body", |
| "grasp_material": "silicone", |
| "grasp_hardness": "medium", |
| "grasp_roughness": "medium", |
| "grasp_texture": false, |
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| ], |
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| ], |
| "inside_object_name": "", |
| "inside_object_material": "", |
| "inside_modality_visual": false, |
| "inside_modality_audio": false, |
| "inside_modality_tactile": false, |
| "inside_modality_force": false, |
| "object_mass_g": 380.0, |
| "folder_name": "rectangular_block" |
| }, |
| { |
| "object_name": "cup", |
| "collision_position": "bottom", |
| "collision_material": "paper", |
| "grasp_position": "body", |
| "grasp_material": "paper", |
| "grasp_hardness": "soft", |
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| "grasp_texture": false, |
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| ], |
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| ], |
| "inside_object_name": "", |
| "inside_object_material": "", |
| "inside_modality_visual": false, |
| "inside_modality_audio": false, |
| "inside_modality_tactile": false, |
| "inside_modality_force": false, |
| "object_mass_g": 6.6, |
| "folder_name": "cup" |
| }, |
| { |
| "object_name": "bottle", |
| "collision_position": "bottom", |
| "collision_material": "plastic", |
| "grasp_position": "body", |
| "grasp_material": "plastic", |
| "grasp_hardness": "hard", |
| "grasp_roughness": "smooth", |
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| ], |
| "inside_object_name": "honey", |
| "inside_object_material": "food", |
| "inside_modality_visual": true, |
| "inside_modality_audio": false, |
| "inside_modality_tactile": false, |
| "inside_modality_force": true, |
| "object_mass_g": 466.6, |
| "folder_name": "bottle" |
| } |
| ] |
