If I understand VirtualBox correctly, I think it is a virtual hypervisor similar to VMware ESX or Workstation products where virtual machines containing a guest operating systems and software can be run.
For VirtualBox, VMware ESX/Workstation, Hyper-V, or any other similar technology, you should gather inventory from the virtual machines just like you would gather hardware and software inventory from any other inventory device - i.e. by using ADDM, SCCM, FlexNet agents, or the like.
One set of data you won't get from gathering regular hardware and software inventory is the relationship between the physical hosts and which guest VMs are running on them. If ADDM can gather that information, then I guess in theory the data could be imported into FlexNet.
The out-of-the-box integration between FlexNet 2019 R1 and ADDM uses an ADDM query like the following to get details of host/VM relationships. If the way ADDM stores VirtualBox host/VM relationship information matches what this query is looking for, then you may have some luck with seeing the data imported into FlexNet without requiring a custom process.
SEARCH Host
TRAVERSE InferredElement:Inference:Associate:DiscoveryAccess
WHERE end_state = 'GoodAccess'
TRAVERSE DiscoveryAccess:DiscoveryAccessResult:DiscoveryResult:VirtualMachineList
WHERE access_method IS DEFINED
TRAVERSE List:List:Member:DiscoveredVirtualMachine
SHOW
name AS 'Name',
uuid AS 'UUID',
#Member:List:List:VirtualMachineList.#DiscoveryResult:DiscoveryAccessResult:DiscoveryAccess:DiscoveryAccess.#Associate:Inference:InferredElement:Host.key AS 'HostKey'
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