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    "object_name": "round box",
    "collision_position": "bottom",
    "collision_material": "plastic",
    "grasp_position": "body",
    "grasp_material": "plastic",
    "grasp_hardness": "hard",
    "grasp_roughness": "smooth",
    "grasp_texture": false,
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    ],
    "bbox_int": [
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    ],
    "inside_object_name": "rock sugar",
    "inside_object_material": "food",
    "inside_modality_visual": false,
    "inside_modality_audio": true,
    "inside_modality_tactile": false,
    "inside_modality_force": false,
    "object_mass_g": 263.6,
    "folder_name": "round_box"
  },
  {
    "object_name": "cup",
    "collision_position": "bottom",
    "collision_material": "silicone",
    "grasp_position": "body",
    "grasp_material": "silicone",
    "grasp_hardness": "soft",
    "grasp_roughness": "smooth",
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    "bbox": [
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    ],
    "bbox_int": [
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    ],
    "inside_object_name": "toy block with small beads",
    "inside_object_material": "plastic and metal",
    "inside_modality_visual": false,
    "inside_modality_audio": true,
    "inside_modality_tactile": false,
    "inside_modality_force": false,
    "object_mass_g": 92.8,
    "folder_name": "cup"
  },
  {
    "object_name": "rectangular box",
    "collision_position": "edge",
    "collision_material": "plastic",
    "grasp_position": "body",
    "grasp_material": "plastic",
    "grasp_hardness": "hard",
    "grasp_roughness": "medium",
    "grasp_texture": false,
    "bbox": [
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    "bbox_int": [
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    ],
    "inside_object_name": "toothpick",
    "inside_object_material": "wood",
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    "inside_modality_audio": true,
    "inside_modality_tactile": false,
    "inside_modality_force": false,
    "object_mass_g": 51.8,
    "folder_name": "rectangular_box"
  }
]