| [ |
| { |
| "object_name": "round box", |
| "collision_position": "bottom", |
| "collision_material": "plastic", |
| "grasp_position": "body", |
| "grasp_material": "plastic", |
| "grasp_hardness": "hard", |
| "grasp_roughness": "smooth", |
| "grasp_texture": false, |
| "bbox": [ |
| 0.146, |
| 0.364, |
| 0.318, |
| 0.589 |
| ], |
| "bbox_int": [ |
| 93, |
| 174, |
| 203, |
| 282 |
| ], |
| "inside_object_name": "rock sugar", |
| "inside_object_material": "food", |
| "inside_modality_visual": false, |
| "inside_modality_audio": true, |
| "inside_modality_tactile": false, |
| "inside_modality_force": false, |
| "object_mass_g": 263.6, |
| "folder_name": "round_box" |
| }, |
| { |
| "object_name": "cup", |
| "collision_position": "bottom", |
| "collision_material": "silicone", |
| "grasp_position": "body", |
| "grasp_material": "silicone", |
| "grasp_hardness": "soft", |
| "grasp_roughness": "smooth", |
| "grasp_texture": false, |
| "bbox": [ |
| 0.814, |
| 0.403, |
| 0.97, |
| 0.608 |
| ], |
| "bbox_int": [ |
| 520, |
| 193, |
| 620, |
| 291 |
| ], |
| "inside_object_name": "toy block with small beads", |
| "inside_object_material": "plastic and metal", |
| "inside_modality_visual": false, |
| "inside_modality_audio": true, |
| "inside_modality_tactile": false, |
| "inside_modality_force": false, |
| "object_mass_g": 92.8, |
| "folder_name": "cup" |
| }, |
| { |
| "object_name": "rectangular box", |
| "collision_position": "edge", |
| "collision_material": "plastic", |
| "grasp_position": "body", |
| "grasp_material": "plastic", |
| "grasp_hardness": "hard", |
| "grasp_roughness": "medium", |
| "grasp_texture": false, |
| "bbox": [ |
| 0.523, |
| 0.212, |
| 0.569, |
| 0.648 |
| ], |
| "bbox_int": [ |
| 334, |
| 101, |
| 364, |
| 311 |
| ], |
| "inside_object_name": "toothpick", |
| "inside_object_material": "wood", |
| "inside_modality_visual": false, |
| "inside_modality_audio": true, |
| "inside_modality_tactile": false, |
| "inside_modality_force": false, |
| "object_mass_g": 51.8, |
| "folder_name": "rectangular_box" |
| } |
| ] |
