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Maybe I should explain a bit better. If Lyra dropped something, could her daemon pick it up and give it to her? Do they physically interact with the world or just extend the senses of the human? The witch's goose opened a locked door but I think that was using the witch's magic. They don't seem to need food. Yes, the daemons can definitely interact with each other and when the daemon feels pain it is passed to the human.
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