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    "collision_position": "bottom",
    "collision_material": "plastic",
    "grasp_position": "body",
    "grasp_material": "plastic",
    "grasp_hardness": "hard",
    "grasp_roughness": "smooth",
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    ],
    "inside_object_name": "small wooden sticks",
    "inside_object_material": "wood",
    "inside_modality_visual": false,
    "inside_modality_audio": true,
    "inside_modality_tactile": false,
    "inside_modality_force": false,
    "object_mass_g": 116.3,
    "folder_name": "green_box"
  },
  {
    "object_name": "purple bottle",
    "collision_position": "body",
    "collision_material": "plastic",
    "grasp_position": "body",
    "grasp_material": "plastic",
    "grasp_hardness": "medium",
    "grasp_roughness": "smooth",
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    ],
    "bbox_int": [
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    "inside_object_name": "water",
    "inside_object_material": "liquid",
    "inside_modality_visual": false,
    "inside_modality_audio": true,
    "inside_modality_tactile": false,
    "inside_modality_force": true,
    "object_mass_g": 295.5,
    "folder_name": "purple_bottle"
  },
  {
    "object_name": "light blue cup",
    "collision_position": "bottom",
    "collision_material": "silicone",
    "grasp_position": "body",
    "grasp_material": "silicone",
    "grasp_hardness": "soft",
    "grasp_roughness": "smooth",
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    "inside_object_name": "candy",
    "inside_object_material": "pills",
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    "inside_modality_audio": true,
    "inside_modality_tactile": false,
    "inside_modality_force": false,
    "object_mass_g": 94.1,
    "folder_name": "light_blue_cup"
  }
]