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    ],
    "inside_object_name": "bottle of mouthwash",
    "inside_object_material": "plastic and liquid",
    "inside_modality_visual": false,
    "inside_modality_audio": true,
    "inside_modality_tactile": false,
    "inside_modality_force": true,
    "object_mass_g": 137.4,
    "folder_name": "light_blue_box"
  },
  {
    "object_name": "black case",
    "collision_position": "body",
    "collision_material": "leather",
    "grasp_position": "body",
    "grasp_material": "leather",
    "grasp_hardness": "hard",
    "grasp_roughness": "rough",
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    "inside_modality_audio": true,
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    "inside_modality_force": false,
    "object_mass_g": 156.9,
    "folder_name": "black_case"
  },
  {
    "object_name": "green square can",
    "collision_position": "bottom",
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    "grasp_position": "body",
    "grasp_material": "metal",
    "grasp_hardness": "hard",
    "grasp_roughness": "medium",
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    "inside_object_name": "metal jar",
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    "inside_modality_audio": true,
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    "inside_modality_force": false,
    "object_mass_g": 128.4,
    "folder_name": "green_square_can"
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]