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    "inside_object_name": "‌detergent",
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    "inside_modality_audio": true,
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    "inside_modality_force": true,
    "object_mass_g": 402.4,
    "folder_name": "yellow_bottle"
  },
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    "object_name": "round pink container",
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    "inside_modality_audio": true,
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    "inside_modality_force": false,
    "object_mass_g": 83.4,
    "folder_name": "round_pink_container"
  },
  {
    "object_name": "green cylinder",
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    "grasp_position": "body",
    "grasp_material": "plastic",
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    "inside_object_material": "",
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    "inside_modality_audio": false,
    "inside_modality_tactile": false,
    "inside_modality_force": false,
    "object_mass_g": 24.8,
    "folder_name": "green_cylinder"
  }
]