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| { |
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| "collision_position": "bottom", |
| "collision_material": "plastic", |
| "grasp_position": "body", |
| "grasp_material": "plastic", |
| "grasp_hardness": "medium", |
| "grasp_roughness": "smooth", |
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| ], |
| "inside_object_name": "detergent", |
| "inside_object_material": "liquid", |
| "inside_modality_visual": false, |
| "inside_modality_audio": true, |
| "inside_modality_tactile": false, |
| "inside_modality_force": true, |
| "object_mass_g": 402.4, |
| "folder_name": "yellow_bottle" |
| }, |
| { |
| "object_name": "round pink container", |
| "collision_position": "bottom", |
| "collision_material": "plastic", |
| "grasp_position": "body", |
| "grasp_material": "plastic", |
| "grasp_hardness": "hard", |
| "grasp_roughness": "smooth", |
| "grasp_texture": false, |
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| ], |
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| ], |
| "inside_object_name": "metal screws", |
| "inside_object_material": "metal", |
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| "inside_modality_audio": true, |
| "inside_modality_tactile": false, |
| "inside_modality_force": false, |
| "object_mass_g": 83.4, |
| "folder_name": "round_pink_container" |
| }, |
| { |
| "object_name": "green cylinder", |
| "collision_position": "body", |
| "collision_material": "plastic", |
| "grasp_position": "body", |
| "grasp_material": "plastic", |
| "grasp_hardness": "medium", |
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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": 24.8, |
| "folder_name": "green_cylinder" |
| } |
| ] |
