[ { "object_name": "blue juicer", "collision_position": "bottom", "collision_material": "plastic", "grasp_position": "body", "grasp_material": "plastic", "grasp_hardness": "hard", "grasp_roughness": "smooth", "grasp_texture": false, "bbox": [ 0.803, 0.339, 0.975, 0.697 ], "bbox_int": [ 513, 162, 624, 334 ], "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": 54.6, "folder_name": "blue_juicer" }, { "object_name": "pink cup", "collision_position": "bottom", "collision_material": "ceramic (porcelain)", "grasp_position": "body", "grasp_material": "ceramic (porcelain)", "grasp_hardness": "hard", "grasp_roughness": "smooth", "grasp_texture": false, "bbox": [ 0.499, 0.328, 0.633, 0.591 ], "bbox_int": [ 319, 157, 405, 283 ], "inside_object_name": "metal jewelry", "inside_object_material": "metal", "inside_modality_visual": true, "inside_modality_audio": true, "inside_modality_tactile": false, "inside_modality_force": false, "object_mass_g": 320.9, "folder_name": "pink_cup" }, { "object_name": "beige transparent cup", "collision_position": "bottom", "collision_material": "glass", "grasp_position": "body", "grasp_material": "glass", "grasp_hardness": "hard", "grasp_roughness": "smooth", "grasp_texture": false, "bbox": [ 0.141, 0.326, 0.308, 0.581 ], "bbox_int": [ 90, 156, 197, 278 ], "inside_object_name": "small plastic jar", "inside_object_material": "plastic", "inside_modality_visual": false, "inside_modality_audio": true, "inside_modality_tactile": false, "inside_modality_force": false, "object_mass_g": 225.6, "folder_name": "beige_transparent_cup" } ]