add finegrasp_wo_sim_pipeline

finegrasp_wo_sim_pipeline/inference.config.json

@@ -0,0 +1,17 @@
+{
+    "__config_type__": "robo_orchard_lab.inference.basic:InferencePipelineCfg",
+    "class_type": "robo_orchard_lab.inference.basic:InferencePipeline",
+    "model": null,
+    "processor": {
+        "__config_type__": "robo_orchard_lab.models.finegrasp.processor:FineGraspProcessorCfg",
+        "class_type": "robo_orchard_lab.models.finegrasp.processor:FineGraspProcessor",
+        "voxel_size": 0.005,
+        "grasp_max_width": 0.1,
+        "num_seed_points": 1024,
+        "max_gripper_width": 0.1,
+        "collision_thresh": 0.01,
+        "voxel_size_cd": 0.01
+    },
+    "collate_fn": null,
+    "batch_size": 1
+}

finegrasp_wo_sim_pipeline/model.config.json

@@ -0,0 +1,22 @@
+{
+    "__config_type__": "robo_orchard_lab.models.finegrasp.finegrasp:FineGraspConfig",
+    "class_type": "robo_orchard_lab.models.finegrasp.finegrasp:FineGrasp",
+    "model_name": "FineGrasp",
+    "seed_feat_dim": 512,
+    "graspness_threshold": 0.1,
+    "grasp_max_width": 0.1,
+    "num_depth": 4,
+    "num_view": 300,
+    "num_angle": 12,
+    "num_seed_points": 1024,
+    "voxel_size": 0.005,
+    "cylinder_radius": 0.07,
+    "cylinder_groups": [
+        0.25,
+        0.5,
+        0.75,
+        1.0
+    ],
+    "use_normal": true,
+    "loss": null
+}

finegrasp_wo_sim_pipeline/model.safetensors

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:30c1f335567dcd726c11fb60249da65e26cc92c2f82928a4e4123ac235b38f79
+size 76694428