[ { "object_name": "white box", "collision_position": "body", "collision_material": "paper", "grasp_position": "body", "grasp_material": "paper", "grasp_hardness": "medium", "grasp_roughness": "smooth", "grasp_texture": false, "bbox": [ 0.81, 0.282, 0.984, 0.622 ], "bbox_int": [ 518, 135, 629, 298 ], "inside_object_name": "power bank", "inside_object_material": "plastic", "inside_modality_visual": false, "inside_modality_audio": true, "inside_modality_tactile": false, "inside_modality_force": true, "object_mass_g": 153.3, "folder_name": "white_box" }, { "object_name": "green square can", "collision_position": "bottom", "collision_material": "metal", "grasp_position": "body", "grasp_material": "metal", "grasp_hardness": "hard", "grasp_roughness": "rough", "grasp_texture": true, "bbox": [ 0.097, 0.324, 0.289, 0.609 ], "bbox_int": [ 62, 155, 184, 292 ], "inside_object_name": "glass cosmetic jar", "inside_object_material": "glass", "inside_modality_visual": false, "inside_modality_audio": true, "inside_modality_tactile": false, "inside_modality_force": true, "object_mass_g": 197.5, "folder_name": "green_square_can" }, { "object_name": "blue box", "collision_position": "bottom", "collision_material": "paper", "grasp_position": "body", "grasp_material": "paper", "grasp_hardness": "medium", "grasp_roughness": "smooth", "grasp_texture": false, "bbox": [ 0.522, 0.44, 0.597, 0.585 ], "bbox_int": [ 334, 211, 382, 280 ], "inside_object_name": "metal jar", "inside_object_material": "metal", "inside_modality_visual": false, "inside_modality_audio": true, "inside_modality_tactile": false, "inside_modality_force": false, "object_mass_g": 22.1, "folder_name": "blue_box" } ]