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    "object_name": "box",
    "collision_position": "bottom",
    "collision_material": "paper",
    "grasp_position": "edge",
    "grasp_material": "paper",
    "grasp_hardness": "medium",
    "grasp_roughness": "medium",
    "grasp_texture": false,
    "bbox": [
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    ],
    "bbox_int": [
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    ],
    "inside_object_name": "wood handle",
    "inside_object_material": "wood",
    "inside_modality_visual": false,
    "inside_modality_audio": true,
    "inside_modality_tactile": false,
    "inside_modality_force": false,
    "object_mass_g": 66.7,
    "folder_name": "box"
  },
  {
    "object_name": "red ball",
    "collision_position": "body",
    "collision_material": "rubber",
    "grasp_position": "body",
    "grasp_material": "rubber",
    "grasp_hardness": "soft",
    "grasp_roughness": "medium",
    "grasp_texture": false,
    "bbox": [
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    ],
    "bbox_int": [
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    ],
    "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": "red_ball"
  },
  {
    "object_name": "black block",
    "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": [
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    ],
    "bbox_int": [
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    ],
    "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": 38.5,
    "folder_name": "black_block"
  }
]