File size: 1,092 Bytes
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"diffusion_steps": 10,
"discriminator_checkpoint": "assets/discriminator_checkpoint.pth",
"generator_checkpoint": "assets/generator_checkpoint.pth",
"geometry": {
"npoints": [
256,
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],
"nsamples": [
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],
"radii": [
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},
"grasp_batch_size": 1000,
"gripper_config": "assets/graspgen_config.yml",
"interface": "tensor_model",
"kappa": 2.02217,
"model_type": "graspgen",
"operation": "generate_grasps",
"point_count": 2048,
"postprocessing": "grasp-pose-matrix-confidence-sorted-v1",
"preprocessing": "object-points-outlier-filtered-centered-kappa-scaled-v1",
"source_sha256": {
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"assets/generator_checkpoint.pth": "fe8497108e39d8fc50be06cd7df22a2f680e0495e713d24c3104616f291e00dd",
"assets/graspgen_config.yml": "93804f423ec02def08add164d83379212204ddc33779cd273ffffdacf94f67f3"
},
"torch_module_loader": "perception_service.torch_model_loaders:load_graspgen"
}
|