{ "mesh": "4cefe2f12a684cc4bf25c0e9f39b3d16", "rgb": "output_hf/4cefe2f12a684cc4bf25c0e9f39b3d16/rgb.png", "surface_visibility": 0.5146750524109015, "grasps": { "front_back": { "json": "output_hf/4cefe2f12a684cc4bf25c0e9f39b3d16/grasp_front_back.json", "npz": "output_hf/4cefe2f12a684cc4bf25c0e9f39b3d16/grasp_front_back.npz", "overlay": "output_hf/4cefe2f12a684cc4bf25c0e9f39b3d16/grasp_front_back_overlay.png", "n_contacts": 6, "fingers": { "ring": 1, "index": 1, "pinky": 1, "middle": 1, "palm": 1, "thumb": 1 } } }, "n_vertices": 954, "n_faces": 1268, "bounding_box": [ [ -0.07999955341179314, -0.005999484660319528, -0.009466813749744042 ], [ 0.03901021299828515, 0.006021348979559702, 0.009467156361220893 ] ] }