{ "mesh": "40f7bac9be754b928f24c52d9f6b340e", "rgb": "output_hf/40f7bac9be754b928f24c52d9f6b340e/rgb.png", "surface_visibility": 0.3996, "grasps": { "front_back": { "json": "output_hf/40f7bac9be754b928f24c52d9f6b340e/grasp_front_back.json", "npz": "output_hf/40f7bac9be754b928f24c52d9f6b340e/grasp_front_back.npz", "overlay": "output_hf/40f7bac9be754b928f24c52d9f6b340e/grasp_front_back_overlay.png", "n_contacts": 6, "fingers": { "ring": 1, "index": 1, "pinky": 1, "middle": 1, "palm": 1, "thumb": 1 } } }, "n_vertices": 525854, "n_faces": 653972, "bounding_box": [ [ -0.023451278537360964, -0.065184882609448, -0.023650231781707377 ], [ 0.02299493792369886, 0.07970661083291117, 0.02398891861223066 ] ] }