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    "inside_modality_audio": true,
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    "inside_modality_force": false,
    "object_mass_g": 62.3,
    "folder_name": "orange_box"
  },
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    "object_name": "blue box",
    "collision_position": "bottom",
    "collision_material": "paper",
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    "inside_modality_audio": true,
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    "inside_modality_force": false,
    "object_mass_g": 48.3,
    "folder_name": "blue_box"
  },
  {
    "object_name": "yellow ball",
    "collision_position": "bottom",
    "collision_material": "plastic",
    "grasp_position": "body",
    "grasp_material": "plastic",
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    "grasp_roughness": "rough",
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    "inside_object_name": "",
    "inside_object_material": "",
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    "inside_modality_audio": false,
    "inside_modality_tactile": false,
    "inside_modality_force": false,
    "object_mass_g": 25.2,
    "folder_name": "yellow_ball"
  }
]