assets/adapter.json

{
  "diffusion_steps": 10,
  "discriminator_checkpoint": "assets/discriminator_checkpoint.pth",
  "generator_checkpoint": "assets/generator_checkpoint.pth",
  "geometry": {
    "npoints": [
      256,
      64
    ],
    "nsamples": [
      64,
      128
    ],
    "radii": [
      0.02,
      0.04
    ]
  },
  "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": {
    "assets/discriminator_checkpoint.pth": "52f68d3cd3decb71499e084fdb88808d174419a72cd9ef38f821083a4409895d",
    "assets/generator_checkpoint.pth": "fe8497108e39d8fc50be06cd7df22a2f680e0495e713d24c3104616f291e00dd",
    "assets/graspgen_config.yml": "93804f423ec02def08add164d83379212204ddc33779cd273ffffdacf94f67f3"
  },
  "torch_module_loader": "perception_service.torch_model_loaders:load_graspgen"
}