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    "object_name": "red ball",
    "collision_position": "body",
    "collision_material": "rubber",
    "grasp_position": "body",
    "grasp_material": "rubber",
    "grasp_hardness": "medium",
    "grasp_roughness": "medium",
    "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": 19.2,
    "folder_name": "red_ball"
  },
  {
    "object_name": "black component",
    "collision_position": "body",
    "collision_material": "plastic (3D-printing material)",
    "grasp_position": "body",
    "grasp_material": "plastic (3D-printing material)",
    "grasp_hardness": "hard",
    "grasp_roughness": "rough",
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    "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": 38.4,
    "folder_name": "black_component"
  },
  {
    "object_name": "black box",
    "collision_position": "body",
    "collision_material": "paper",
    "grasp_position": "body",
    "grasp_material": "paper",
    "grasp_hardness": "hard",
    "grasp_roughness": "smooth",
    "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": 74.9,
    "folder_name": "black_box"
  }
]