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    ],
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    "inside_object_material": "",
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    "inside_modality_audio": false,
    "inside_modality_tactile": false,
    "inside_modality_force": false,
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  },
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    "grasp_material": "paper",
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    "object_mass_g": 6.4,
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  },
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    "object_name": "smaller blue box",
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    "collision_material": "paper",
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]