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    "object_name": "green block",
    "collision_position": "bottom",
    "collision_material": "plastic",
    "grasp_position": "body",
    "grasp_material": "plastic",
    "grasp_hardness": "hard",
    "grasp_roughness": "smooth",
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    ],
    "inside_object_name": "table tennis ball",
    "inside_object_material": "plastic",
    "inside_modality_visual": false,
    "inside_modality_audio": true,
    "inside_modality_tactile": false,
    "inside_modality_force": false,
    "object_mass_g": 26.5,
    "folder_name": "green_block"
  },
  {
    "object_name": "blue box",
    "collision_position": "bottom",
    "collision_material": "paper",
    "grasp_position": "body",
    "grasp_material": "paper",
    "grasp_hardness": "medium",
    "grasp_roughness": "smooth",
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    ],
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    ],
    "inside_object_name": "plastic bottle",
    "inside_object_material": "plastic",
    "inside_modality_visual": false,
    "inside_modality_audio": true,
    "inside_modality_tactile": false,
    "inside_modality_force": false,
    "object_mass_g": 60.3,
    "folder_name": "blue_box"
  },
  {
    "object_name": "yellow ball",
    "collision_position": "body",
    "collision_material": "sponge",
    "grasp_position": "body",
    "grasp_material": "sponge",
    "grasp_hardness": "medium",
    "grasp_roughness": "rough",
    "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": 25.1,
    "folder_name": "yellow_ball"
  }
]