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[
  {
    "object_name": "silver box",
    "collision_position": "bottom",
    "collision_material": "metal",
    "grasp_position": "body",
    "grasp_material": "metal",
    "grasp_hardness": "hard",
    "grasp_roughness": "smooth",
    "grasp_texture": false,
    "bbox": [
      0.758,
      0.336,
      0.941,
      0.593
    ],
    "bbox_int": [
      485,
      161,
      602,
      284
    ],
    "inside_object_name": "small beads",
    "inside_object_material": "metal",
    "inside_modality_visual": false,
    "inside_modality_audio": true,
    "inside_modality_tactile": false,
    "inside_modality_force": true,
    "object_mass_g": 155.5,
    "folder_name": "silver_box"
  },
  {
    "object_name": "beige round box",
    "collision_position": "bottom",
    "collision_material": "ceramic (pottery)",
    "grasp_position": "body",
    "grasp_material": "ceramic (pottery)",
    "grasp_hardness": "hard",
    "grasp_roughness": "smooth",
    "grasp_texture": true,
    "bbox": [
      0.155,
      0.322,
      0.344,
      0.568
    ],
    "bbox_int": [
      99,
      154,
      220,
      272
    ],
    "inside_object_name": "wood block",
    "inside_object_material": "wood",
    "inside_modality_visual": false,
    "inside_modality_audio": true,
    "inside_modality_tactile": false,
    "inside_modality_force": false,
    "object_mass_g": 363.8,
    "folder_name": "beige_round_box"
  },
  {
    "object_name": "blue box",
    "collision_position": "bottom",
    "collision_material": "paper",
    "grasp_position": "body",
    "grasp_material": "paper",
    "grasp_hardness": "medium",
    "grasp_roughness": "smooth",
    "grasp_texture": false,
    "bbox": [
      0.497,
      0.308,
      0.59,
      0.562
    ],
    "bbox_int": [
      318,
      147,
      377,
      269
    ],
    "inside_object_name": "table tennis ball",
    "inside_object_material": "plastic",
    "inside_modality_visual": false,
    "inside_modality_audio": true,
    "inside_modality_tactile": false,
    "inside_modality_force": false,
    "object_mass_g": 16.5,
    "folder_name": "blue_box"
  }
]