[
  {
    "object_name": "pink square box",
    "collision_position": "bottom",
    "collision_material": "plastic",
    "grasp_position": "body",
    "grasp_material": "plastic",
    "grasp_hardness": "hard",
    "grasp_roughness": "smooth",
    "grasp_texture": false,
    "bbox": [
      0.442,
      0.393,
      0.591,
      0.603
    ],
    "bbox_int": [
      282,
      188,
      378,
      289
    ],
    "inside_object_name": "plastic box",
    "inside_object_material": "plastic",
    "inside_modality_visual": false,
    "inside_modality_audio": true,
    "inside_modality_tactile": false,
    "inside_modality_force": false,
    "object_mass_g": 96.2,
    "folder_name": "pink_square_box"
  },
  {
    "object_name": "beige circular box",
    "collision_position": "bottom",
    "collision_material": "ceramic (porcelain)",
    "grasp_position": "body",
    "grasp_material": "ceramic (porcelain)",
    "grasp_hardness": "hard",
    "grasp_roughness": "smooth",
    "grasp_texture": false,
    "bbox": [
      0.761,
      0.374,
      0.968,
      0.628
    ],
    "bbox_int": [
      487,
      179,
      619,
      301
    ],
    "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": 330.0,
    "folder_name": "beige_circular_box"
  },
  {
    "object_name": "yellow circular box",
    "collision_position": "bottom",
    "collision_material": "plastic",
    "grasp_position": "body",
    "grasp_material": "plastic",
    "grasp_hardness": "hard",
    "grasp_roughness": "smooth",
    "grasp_texture": false,
    "bbox": [
      0.155,
      0.378,
      0.286,
      0.561
    ],
    "bbox_int": [
      99,
      181,
      183,
      269
    ],
    "inside_object_name": "small medicine bottle",
    "inside_object_material": "plastic and pills",
    "inside_modality_visual": false,
    "inside_modality_audio": true,
    "inside_modality_tactile": false,
    "inside_modality_force": false,
    "object_mass_g": 43.6,
    "folder_name": "yellow_circular_box"
  }
]