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    "inside_object_name": "plastic-packaged food",
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    "inside_modality_audio": true,
    "inside_modality_tactile": false,
    "inside_modality_force": false,
    "object_mass_g": 144.7,
    "folder_name": "light_green_box"
  },
  {
    "object_name": "blue cup",
    "collision_position": "bottom",
    "collision_material": "plastic",
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    "grasp_material": "plastic",
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    "inside_object_material": "pills",
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    "inside_modality_audio": true,
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    "inside_modality_force": false,
    "object_mass_g": 93.9,
    "folder_name": "blue_cup"
  },
  {
    "object_name": "silver bottle",
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    "collision_material": "metal",
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    "grasp_hardness": "hard",
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    "object_mass_g": 418.3,
    "folder_name": "silver_bottle"
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]