{
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  "discriminator_checkpoint": "assets/discriminator_checkpoint.pth",
  "generator_checkpoint": "assets/generator_checkpoint.pth",
  "geometry": {
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    "nsamples": [
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  "model_type": "graspgen",
  "operation": "generate_grasps",
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  "torch_module_loader": "perception_service.torch_model_loaders:load_graspgen"
}