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[
  {
    "object_name": "brown box",
    "collision_position": "bottom",
    "collision_material": "paper",
    "grasp_position": "body",
    "grasp_material": "paper",
    "grasp_hardness": "medium",
    "grasp_roughness": "medium",
    "grasp_texture": false,
    "bbox": [
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      0.296,
      0.573
    ],
    "bbox_int": [
      72,
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      189,
      275
    ],
    "inside_object_name": "keychain charm",
    "inside_object_material": "plastic and metal",
    "inside_modality_visual": false,
    "inside_modality_audio": true,
    "inside_modality_tactile": false,
    "inside_modality_force": false,
    "object_mass_g": 80.0,
    "folder_name": "brown_box"
  },
  {
    "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": [
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      0.94,
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    ],
    "bbox_int": [
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    ],
    "inside_object_name": "small plastic bottle",
    "inside_object_material": "plastic",
    "inside_modality_visual": false,
    "inside_modality_audio": true,
    "inside_modality_tactile": false,
    "inside_modality_force": false,
    "object_mass_g": 142.5,
    "folder_name": "silver_box"
  },
  {
    "object_name": "white box",
    "collision_position": "bottom",
    "collision_material": "paper",
    "grasp_position": "body",
    "grasp_material": "paper",
    "grasp_hardness": "medium",
    "grasp_roughness": "smooth",
    "grasp_texture": false,
    "bbox": [
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      0.576,
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    ],
    "bbox_int": [
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    ],
    "inside_object_name": "data cable",
    "inside_object_material": "plastic",
    "inside_modality_visual": false,
    "inside_modality_audio": true,
    "inside_modality_tactile": false,
    "inside_modality_force": false,
    "object_mass_g": 33.7,
    "folder_name": "white_box"
  }
]