{
  "bundle": {
    "digest": {
      "algorithm": "sha256",
      "scope": "structure",
      "value": "3a71ce928384178e8a5b95bdb1214a6919553ba53fde9ca5bb14594dddad9bdc"
    },
    "files": [
      {
        "path": "assets/graspgen_config.yml"
      },
      {
        "path": "assets/generator_checkpoint.pth"
      },
      {
        "path": "assets/discriminator_checkpoint.pth"
      },
      {
        "path": "assets/adapter.json"
      }
    ],
    "name": "grasp",
    "revision": 5,
    "uuid": "b300dc60-3bd4-4a64-8f70-670618235cbe"
  },
  "deployments": {
    "ascend_310p": {
      "artifacts": {
        "denoiser": {
          "format": "om",
          "path": "artifacts/ascend/ascend_310p/denoiser.om",
          "sha256": "a4f96a03c38097ec39f66dfefb63e463848158e82f184bd69f58dc991569304b"
        },
        "discriminator_encoder_head": {
          "format": "om",
          "path": "artifacts/ascend/ascend_310p/discriminator_encoder_head.om",
          "sha256": "a412e5bbe49eb9c868f5d99eca490e7d76ce9396b8db9b572b699986085e9ae3"
        },
        "discriminator_head": {
          "format": "om",
          "path": "artifacts/ascend/ascend_310p/discriminator_head.om",
          "sha256": "84250b7f8c2277eb71709d3f7db87e805cd26047e302e5f5841ff839dbc1a97a"
        },
        "discriminator_sa1": {
          "format": "om",
          "path": "artifacts/ascend/ascend_310p/discriminator_sa1.om",
          "sha256": "1c2f5fd2dc9c51c183ecf9199325f45b4c8c1fb26901d22e12d1d097cd970520"
        },
        "discriminator_sa2": {
          "format": "om",
          "path": "artifacts/ascend/ascend_310p/discriminator_sa2.om",
          "sha256": "6c9fd7cb793052bb82bb8a2accbbabb44728f17d39d0401b63d1a3c2c45c63a9"
        },
        "generator_encoder_head": {
          "format": "om",
          "path": "artifacts/ascend/ascend_310p/generator_encoder_head.om",
          "sha256": "66b7533818654a54f5fb5f3acd251471dc554a8cd2fa45a77423b3c230d4798f"
        },
        "generator_sa1": {
          "format": "om",
          "path": "artifacts/ascend/ascend_310p/generator_sa1.om",
          "sha256": "d74e84ce034c9598509b4a5fb89cea41c2fa03b0a0ff716debb92b4c9dd18cee"
        },
        "generator_sa2": {
          "format": "om",
          "path": "artifacts/ascend/ascend_310p/generator_sa2.om",
          "sha256": "15b5796fc49c05be63d44f83389dcfc5af978d98c09ce1b8ce48fc48d0f7a7e1"
        }
      },
      "bindings": {
        "denoiser": {
          "inputs": [
            {
              "dtype": "float32",
              "index": 0,
              "runtime_name": "object_embedding",
              "semantic": "internal.graspgen.generator_embedding",
              "shape": [
                1,
                512
              ]
            },
            {
              "dtype": "float32",
              "index": 1,
              "runtime_name": "sample",
              "semantic": "host.graspgen.diffusion_sample",
              "shape": [
                1000,
                6
              ]
            },
            {
              "dtype": "float32",
              "index": 2,
              "runtime_name": "timestep",
              "semantic": "host.graspgen.diffusion_time",
              "shape": [
                1
              ]
            }
          ],
          "outputs": [
            {
              "dtype": "float32",
              "index": 0,
              "runtime_name": "PartitionedCall_/prediction_head/prediction_head.4/Gemm_add_130:0:predicted_noise",
              "semantic": "host.graspgen.predicted_noise",
              "shape": [
                1000,
                6
              ]
            }
          ]
        },
        "discriminator_encoder_head": {
          "inputs": [
            {
              "dtype": "float32",
              "index": 0,
              "layout": "NCHW",
              "runtime_name": "grouped_features",
              "semantic": "host.graspgen.global_features",
              "shape": [
                1,
                259,
                1,
                64
              ]
            }
          ],
          "outputs": [
            {
              "dtype": "float32",
              "index": 0,
              "runtime_name": "PartitionedCall_/prediction_head/prediction_head.4/Gemm_add_17:0:object_embedding",
              "semantic": "internal.graspgen.discriminator_embedding",
              "shape": [
                1,
                512
              ]
            }
          ]
        },
        "discriminator_head": {
          "inputs": [
            {
              "dtype": "float32",
              "index": 0,
              "runtime_name": "object_embedding",
              "semantic": "internal.graspgen.discriminator_embedding",
              "shape": [
                1,
                512
              ]
            },
            {
              "dtype": "float32",
              "index": 1,
              "runtime_name": "grasp_rt",
              "semantic": "host.graspgen.grasp_rt",
              "shape": [
                1000,
                6
              ]
            }
          ],
          "outputs": [
            {
              "dtype": "float32",
              "index": 0,
              "runtime_name": "PartitionedCall_/prediction_head/prediction_head.4/Gemm_add_24:0:logits",
              "semantic": "host.graspgen.grasp_logits",
              "shape": [
                1000,
                1
              ]
            },
            {
              "dtype": "float32",
              "index": 1,
              "runtime_name": "/Sigmoid:0:confidence",
              "semantic": "host.graspgen.grasp_scores",
              "shape": [
                1000,
                1
              ]
            }
          ]
        },
        "discriminator_sa1": {
          "inputs": [
            {
              "dtype": "float32",
              "index": 0,
              "layout": "NCHW",
              "runtime_name": "grouped_features",
              "semantic": "host.graspgen.grouped_points",
              "shape": [
                1,
                3,
                256,
                64
              ]
            }
          ],
          "outputs": [
            {
              "dtype": "float32",
              "index": 0,
              "runtime_name": "PartitionedCall_/ReduceMax_ReduceMax_1:0:features",
              "semantic": "host.graspgen.features",
              "shape": [
                1,
                128,
                256
              ]
            }
          ]
        },
        "discriminator_sa2": {
          "inputs": [
            {
              "dtype": "float32",
              "index": 0,
              "layout": "NCHW",
              "runtime_name": "grouped_features",
              "semantic": "host.graspgen.stage2_features",
              "shape": [
                1,
                131,
                64,
                128
              ]
            }
          ],
          "outputs": [
            {
              "dtype": "float32",
              "index": 0,
              "runtime_name": "PartitionedCall_/ReduceMax_ReduceMax_1:0:features",
              "semantic": "host.graspgen.features",
              "shape": [
                1,
                256,
                64
              ]
            }
          ]
        },
        "generator_encoder_head": {
          "inputs": [
            {
              "dtype": "float32",
              "index": 0,
              "layout": "NCHW",
              "runtime_name": "grouped_features",
              "semantic": "host.graspgen.global_features",
              "shape": [
                1,
                259,
                1,
                64
              ]
            }
          ],
          "outputs": [
            {
              "dtype": "float32",
              "index": 0,
              "runtime_name": "PartitionedCall_/prediction_head/prediction_head.4/Gemm_add_17:0:object_embedding",
              "semantic": "internal.graspgen.generator_embedding",
              "shape": [
                1,
                512
              ]
            }
          ]
        },
        "generator_sa1": {
          "inputs": [
            {
              "dtype": "float32",
              "index": 0,
              "layout": "NCHW",
              "runtime_name": "grouped_features",
              "semantic": "host.graspgen.grouped_points",
              "shape": [
                1,
                3,
                256,
                64
              ]
            }
          ],
          "outputs": [
            {
              "dtype": "float32",
              "index": 0,
              "runtime_name": "PartitionedCall_/ReduceMax_ReduceMax_1:0:features",
              "semantic": "host.graspgen.features",
              "shape": [
                1,
                128,
                256
              ]
            }
          ]
        },
        "generator_sa2": {
          "inputs": [
            {
              "dtype": "float32",
              "index": 0,
              "layout": "NCHW",
              "runtime_name": "grouped_features",
              "semantic": "host.graspgen.stage2_features",
              "shape": [
                1,
                131,
                64,
                128
              ]
            }
          ],
          "outputs": [
            {
              "dtype": "float32",
              "index": 0,
              "runtime_name": "PartitionedCall_/ReduceMax_ReduceMax_1:0:features",
              "semantic": "host.graspgen.features",
              "shape": [
                1,
                256,
                64
              ]
            }
          ]
        }
      },
      "device_links": [
        {
          "consumer": "denoiser",
          "owner": "producer",
          "producer": "generator_encoder_head",
          "semantic": "internal.graspgen.generator_embedding",
          "transport": "device_pointer"
        },
        {
          "consumer": "discriminator_head",
          "owner": "producer",
          "producer": "discriminator_encoder_head",
          "semantic": "internal.graspgen.discriminator_embedding",
          "transport": "device_pointer"
        }
      ],
      "execution": [
        "generator_sa1",
        "generator_sa2",
        "generator_encoder_head",
        "discriminator_sa1",
        "discriminator_sa2",
        "discriminator_encoder_head",
        "denoiser",
        "discriminator_head"
      ],
      "execution_contract": {
        "cancellation_granularity": "request_boundary",
        "execution_structure": "direct",
        "state_scope": "request"
      },
      "revision": 1,
      "runtime_profile": {
        "backend": "ascend",
        "profile": {
          "device_id": 0
        },
        "target": {
          "runtime": "acl",
          "soc": "Ascend310P1"
        }
      },
      "uuid": "11d63596-aa79-414d-ad3c-b63c4057fbd1"
    },
    "torch_cuda": {
      "execution_contract": {
        "cancellation_granularity": "request_boundary",
        "execution_structure": "direct",
        "state_scope": "request"
      },
      "revision": 1,
      "runtime_profile": {
        "backend": "torch",
        "profile": {
          "device": "cuda"
        },
        "target": {
          "runtime": "torch"
        }
      },
      "uuid": "2bbc4acc-5ce8-44c9-aa2d-74666d06f4f2"
    }
  },
  "model": {
    "inputs": [
      {
        "dtype": "float32",
        "semantic": "observation.object_points",
        "shape": [
          -1,
          3
        ]
      }
    ],
    "interface": "tensor_model",
    "model_type": "graspgen",
    "operation": "generate_grasps",
    "outputs": [
      {
        "dtype": "float32",
        "semantic": "grasp.poses",
        "shape": [
          -1,
          4,
          4
        ]
      },
      {
        "dtype": "float32",
        "semantic": "grasp.confidence",
        "shape": [
          -1
        ]
      }
    ],
    "semantic_identity": {
      "logical_model_revision": "graspgen@v2",
      "output_semantics": "grasp-pose-matrix-confidence-sorted-v1",
      "preprocessing_contract": "object-points-outlier-filtered-centered-kappa-scaled-v1"
    }
  },
  "schema_version": 3
}