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    ],
    "inside_object_name": "",
    "inside_object_material": "",
    "inside_modality_visual": false,
    "inside_modality_audio": false,
    "inside_modality_tactile": false,
    "inside_modality_force": false,
    "object_mass_g": 87.2,
    "folder_name": "transparent_box"
  },
  {
    "object_name": "purple bottle",
    "collision_position": "bottom",
    "collision_material": "plastic",
    "grasp_position": "body",
    "grasp_material": "plastic",
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    "inside_object_material": "food",
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    "inside_modality_force": true,
    "object_mass_g": 145.9,
    "folder_name": "purple_bottle"
  },
  {
    "object_name": "yellow container",
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    "grasp_material": "plastic",
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]