ROMA / ROMA-Bench /b49 /annotation.json
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[
{
"object_name": "brown box",
"bbox": [
0.114,
0.285,
0.296,
0.573
],
"collision_position": "bottom",
"collision_material": "paper",
"grasp_position": "body",
"grasp_material": "paper",
"grasp_hardness": "medium",
"grasp_roughness": "medium",
"grasp_texture": false,
"bbox_int": [
72,
136,
189,
275
],
"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": "silver box",
"bbox": [
0.757,
0.301,
0.94,
0.556
],
"collision_position": "bottom",
"collision_material": "metal",
"grasp_position": "body",
"grasp_material": "metal",
"grasp_hardness": "hard",
"grasp_roughness": "smooth",
"grasp_texture": false,
"bbox_int": [
484,
144,
601,
266
],
"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": "white box",
"bbox": [
0.505,
0.228,
0.576,
0.569
],
"collision_position": "bottom",
"collision_material": "paper",
"grasp_position": "body",
"grasp_material": "paper",
"grasp_hardness": "medium",
"grasp_roughness": "smooth",
"grasp_texture": false,
"bbox_int": [
323,
109,
368,
273
],
"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": ""
}
]