[
  {
    "object_name": "purple jar",
    "collision_position": "bottom",
    "collision_material": "plastic",
    "grasp_position": "body",
    "grasp_material": "plastic",
    "grasp_hardness": "hard",
    "grasp_roughness": "smooth",
    "grasp_texture": false,
    "bbox": [
      0.771,
      0.421,
      0.891,
      0.563
    ],
    "bbox_int": [
      493,
      202,
      570,
      270
    ],
    "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": 20.0,
    "folder_name": "purple_jar"
  },
  {
    "object_name": "purple and white box",
    "collision_position": "body",
    "collision_material": "paper",
    "grasp_position": "body",
    "grasp_material": "paper",
    "grasp_hardness": "hard",
    "grasp_roughness": "medium",
    "grasp_texture": true,
    "bbox": [
      0.077,
      0.133,
      0.247,
      0.603
    ],
    "bbox_int": [
      49,
      63,
      158,
      289
    ],
    "inside_object_name": "paper sachet",
    "inside_object_material": "paper",
    "inside_modality_visual": false,
    "inside_modality_audio": true,
    "inside_modality_tactile": false,
    "inside_modality_force": true,
    "object_mass_g": 193.0,
    "folder_name": "purple_and_white_box"
  },
  {
    "object_name": "black part",
    "collision_position": "bottom",
    "collision_material": "plastic (3D-printing material)",
    "grasp_position": "body",
    "grasp_material": "plastic (3D-printing material)",
    "grasp_hardness": "hard",
    "grasp_roughness": "rough",
    "grasp_texture": true,
    "bbox": [
      0.536,
      0.358,
      0.583,
      0.581
    ],
    "bbox_int": [
      343,
      171,
      373,
      278
    ],
    "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": 38.4,
    "folder_name": "black_part"
  }
]