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Mariyappan cleared 1.86m while the American gold winner Sam Grewe succeeded in soaring above 1.88m in his third attempt.
Kumar took the bronze with an effort of 1.83.
The third Indian in the fray and 2016 Rio Paralympics bronze winner, Varun Singh Bhati ended seventh out of nine competitors as he failed to clear 1.77m.
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Earlier in the day, shooter Singhraj Adana fetched a bronze in the men’s 10mair pistol SH1 event.
India have so far won two gold, five silver and three bronze medals.