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    "inside_object_name": "coin",
    "inside_object_material": "metal",
    "inside_modality_visual": false,
    "inside_modality_audio": true,
    "inside_modality_tactile": false,
    "inside_modality_force": false,
    "object_mass_g": 19.1,
    "folder_name": "white_cup"
  },
  {
    "object_name": "pink round box",
    "collision_position": "bottom",
    "collision_material": "plastic",
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    "grasp_material": "plastic",
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    "inside_modality_audio": true,
    "inside_modality_tactile": false,
    "inside_modality_force": false,
    "object_mass_g": 89.7,
    "folder_name": "pink_round_box"
  },
  {
    "object_name": "blue round box",
    "collision_position": "bottom",
    "collision_material": "plastic",
    "grasp_position": "body",
    "grasp_material": "plastic",
    "grasp_hardness": "hard",
    "grasp_roughness": "smooth",
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    "inside_object_material": "rubber",
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    "inside_modality_audio": true,
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    "inside_modality_force": false,
    "object_mass_g": 64.8,
    "folder_name": "blue_round_box"
  }
]