[
  {
    "object_name": "brown box",
    "collision_position": "bottom",
    "collision_material": "paper",
    "grasp_position": "body",
    "grasp_material": "paper",
    "grasp_hardness": "hard",
    "grasp_roughness": "medium",
    "grasp_texture": false,
    "bbox": [
      0.467,
      0.349,
      0.618,
      0.638
    ],
    "bbox_int": [
      298,
      167,
      395,
      306
    ],
    "inside_object_name": "metal block",
    "inside_object_material": "metal",
    "inside_modality_visual": false,
    "inside_modality_audio": true,
    "inside_modality_tactile": false,
    "inside_modality_force": false,
    "object_mass_g": 47.4,
    "folder_name": "brown_box"
  },
  {
    "object_name": "pink mug",
    "collision_position": "bottom",
    "collision_material": "ceramic (pottery)",
    "grasp_position": "body",
    "grasp_material": "ceramic (pottery)",
    "grasp_hardness": "hard",
    "grasp_roughness": "smooth",
    "grasp_texture": false,
    "bbox": [
      0.133,
      0.316,
      0.292,
      0.584
    ],
    "bbox_int": [
      85,
      151,
      186,
      280
    ],
    "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": 314.3,
    "folder_name": "pink_mug"
  },
  {
    "object_name": "white adapter",
    "collision_position": "body",
    "collision_material": "plastic",
    "grasp_position": "body",
    "grasp_material": "plastic",
    "grasp_hardness": "hard",
    "grasp_roughness": "smooth",
    "grasp_texture": false,
    "bbox": [
      0.792,
      0.477,
      0.854,
      0.577
    ],
    "bbox_int": [
      506,
      228,
      546,
      276
    ],
    "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": 31.9,
    "folder_name": "white_adapter"
  }
]