[ { "object_name": "pig doll", "collision_position": "body", "collision_material": "fabric", "grasp_position": "body", "grasp_material": "fabric", "grasp_hardness": "soft", "grasp_roughness": "medium", "grasp_texture": true, "bbox": [ 0.402, 0.201, 0.693, 0.749 ], "bbox_int": [ 257, 96, 443, 359 ], "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": 146.5, "folder_name": "pig_doll" }, { "object_name": "ball", "collision_position": "body", "collision_material": "rubber", "grasp_position": "body", "grasp_material": "rubber", "grasp_hardness": "medium", "grasp_roughness": "medium", "grasp_texture": false, "bbox": [ 0.842, 0.372, 0.946, 0.502 ], "bbox_int": [ 538, 178, 605, 240 ], "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": 19.4, "folder_name": "ball" }, { "object_name": "bottle", "collision_position": "body", "collision_material": "plastic", "grasp_position": "body", "grasp_material": "plastic", "grasp_hardness": "hard", "grasp_roughness": "smooth", "grasp_texture": false, "bbox": [ 0.147, 0.298, 0.301, 0.521 ], "bbox_int": [ 94, 143, 192, 250 ], "inside_object_name": "honey", "inside_object_material": "food", "inside_modality_visual": true, "inside_modality_audio": false, "inside_modality_tactile": false, "inside_modality_force": true, "object_mass_g": 466.6, "folder_name": "bottle" } ]