ROMA / ROMA-Bench /b21 /annotation.json
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[
{
"object_name": "silver box",
"bbox": [
0.758,
0.336,
0.941,
0.593
],
"collision_position": "bottom",
"collision_material": "metal",
"grasp_position": "body",
"grasp_material": "metal",
"grasp_hardness": "hard",
"grasp_roughness": "smooth",
"grasp_texture": false,
"bbox_int": [
485,
161,
602,
284
],
"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": "",
"folder_name": ""
},
{
"object_name": "beige round box",
"bbox": [
0.155,
0.322,
0.344,
0.568
],
"collision_position": "bottom",
"collision_material": "ceramic",
"grasp_position": "body",
"grasp_material": "ceramic",
"grasp_hardness": "hard",
"grasp_roughness": "medium",
"grasp_texture": true,
"bbox_int": [
99,
154,
220,
272
],
"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": "",
"folder_name": ""
},
{
"object_name": "blue box",
"bbox": [
0.497,
0.308,
0.59,
0.562
],
"collision_position": "bottom",
"collision_material": "paper",
"grasp_position": "body",
"grasp_material": "paper",
"grasp_hardness": "medium",
"grasp_roughness": "medium",
"grasp_texture": false,
"bbox_int": [
318,
147,
377,
269
],
"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": "",
"folder_name": ""
}
]