| [ |
| { |
| "object_name": "pig doll", |
| "collision_position": "body", |
| "collision_material": "fabric", |
| "grasp_position": "head", |
| "grasp_material": "fabric", |
| "grasp_hardness": "soft", |
| "grasp_roughness": "medium", |
| "grasp_texture": false, |
| "bbox": [ |
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| ], |
| "bbox_int": [ |
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| 87, |
| 252, |
| 346 |
| ], |
| "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": 146.8, |
| "folder_name": "pig_doll" |
| }, |
| { |
| "object_name": "blue cup", |
| "collision_position": "bottom", |
| "collision_material": "silicone", |
| "grasp_position": "edge", |
| "grasp_material": "silicone", |
| "grasp_hardness": "soft", |
| "grasp_roughness": "smooth", |
| "grasp_texture": false, |
| "bbox": [ |
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| ], |
| "bbox_int": [ |
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| 176, |
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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": 70.5, |
| "folder_name": "blue_cup" |
| }, |
| { |
| "object_name": "brown cup", |
| "collision_position": "bottom", |
| "collision_material": "paper", |
| "grasp_position": "edge", |
| "grasp_material": "paper", |
| "grasp_hardness": "soft", |
| "grasp_roughness": "medium", |
| "grasp_texture": false, |
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| ], |
| "bbox_int": [ |
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| ], |
| "inside_object_name": "small metal balls", |
| "inside_object_material": "metal", |
| "inside_modality_visual": false, |
| "inside_modality_audio": true, |
| "inside_modality_tactile": false, |
| "inside_modality_force": true, |
| "object_mass_g": 38.6, |
| "folder_name": "brown_cup" |
| } |
| ] |
