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    "init_qpos": [],
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    "contact_points": [],
    "functional_points": [],
    "orientation_point": [],
    "contact_points_group": [],
    "contact_points_mask": [],
    "target_points_discription": [],
    "contact_points_discription": [],
    "functional_points_discription": [],
    "orientation_point_discription": [],
    "mass": {
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}