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    "collision_material": "plastic",
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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": 54.1,
    "folder_name": "blue_circular_box"
  },
  {
    "object_name": "purple square box",
    "collision_position": "bottom",
    "collision_material": "plastic",
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    "grasp_material": "plastic",
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    "inside_object_name": "small plastic beads",
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    "inside_modality_audio": true,
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    "inside_modality_force": false,
    "object_mass_g": 62.0,
    "folder_name": "purple_square_box"
  },
  {
    "object_name": "dark blue oval box",
    "collision_position": "bottom",
    "collision_material": "silicone",
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    "grasp_material": "silicone",
    "grasp_hardness": "medium",
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    "inside_modality_audio": true,
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    "object_mass_g": 193.3,
    "folder_name": "dark_blue_oval_box"
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]