data:
  root_dir: ''
  tasks:
  - pick
  num_points: 2048
  num_object_points: 1024
  cam_coord: false
  num_rotations: 64
  grid_resolution: 0.01
  jitter_scale: 0.0
  contact_radius: 0.005
  dist_above_table: 0.002
  robot_prob: 1.0
  offset_bins:
  - 0
  - 0.00794435329
  - 0.0158887021
  - 0.0238330509
  - 0.0317773996
  - 0.0397217484
  - 0.0476660972
  - 0.055610446
  - 0.0635547948
  - 0.0714991435
  - 0.08
  random_seed: -1
  rotation_augmentation: false
  add_depth_noise: false
  downsample_points: false
  downsample_to_fixed_batch_size: false
  dataset_cls: ObjectPickDataset
  load_patch: false
  load_discriminator_dataset: false
  patch_width: 256
  prob_point_cloud: -1
  object_root_dir: ''
  grasp_root_dir: ''
  dataset_name: acronym
  dataset_version: v1
  gripper_name: robotiq_2f_140
  num_grasps_per_object: 1000
  load_contact: false
  prefiltering: false
  discriminator_ratio:
  - 0.5
  - 0.2
  - 0.25
  - 0.05
  - 0.0
  visualize_batch: false
  onpolicy_dataset_dir: null
  onpolicy_dataset_h5_path: null
  redundancy: 1
  preload_dataset: false
m2t2:
  scene_encoder:
    type: pointnet2_msg
    num_points: 16384
    downsample: 4
    radius: 0.02
    radius_mult: 2
    use_rgb: false
  object_encoder:
    type: pointnet2_msg_cls
    num_points: 1024
    downsample: 4
    radius: 0.02
    radius_mult: 2
    use_rgb: false
  contact_decoder:
    mask_feature: res0
    in_features:
    - res1
    - res2
    - res3
    place_feature: res4
    embed_dim: 256
    feedforward_dim: 512
    num_scales: 3
    num_layers: 3
    num_heads: 8
    num_grasp_queries: 1000
    num_place_queries: 0
    use_attn_mask: true
    use_task_embed: false
    activation: GELU
    pos_enc: new
  action_decoder:
    use_embed: false
    conf_thresh: 0.5
    max_num_pred: null
    hidden_dim: 256
    num_layers: 2
    activation: GELU
    offset_bins:
    - 0
    - 0.00794435329
    - 0.0158887021
    - 0.0238330509
    - 0.0317773996
    - 0.0397217484
    - 0.0476660972
    - 0.055610446
    - 0.0635547948
    - 0.0714991435
    - 0.08
    gripper_depth: 0.1034
    gripper_name: robotiq_2f_140
  matcher:
    object_weight: 2.0
    bce_weight: 5.0
    dice_weight: 5.0
  grasp_loss:
    object_weight: 2.0
    not_object_weight: 0.1
    pseudo_ce_weight: 0.0
    bce_topk: 512
    bce_weight: 5.0
    dice_weight: 5.0
    deep_supervision: true
    recompute_indices: true
    adds_pred2gt: 100.0
    adds_gt2pred: 0.0
    adds_per_obj: false
    contact_dir: 0.0
    approach_dir: 0.0
    offset: 1.0
    offset_bin_weights:
    - 0.16652107
    - 0.21488856
    - 0.37031708
    - 0.55618503
    - 0.75124664
    - 0.93943357
    - 1.07824539
    - 1.19423112
    - 1.55731375
    - 3.17161779
    gripper_name: robotiq_2f_140
  place_loss:
    bce_topk: 1024
    bce_weight: 5.0
    dice_weight: 5.0
    deep_supervision: true
diffusion:
  obs_backbone: pointnet
  checkpoint_object_encoder_pretrained: null
  num_embed_dim: 256
  num_obs_dim: 512
  diffusion_embed_dim: 512
  image_size: 256
  num_diffusion_iters: 10
  num_diffusion_iters_eval: 10
  compositional_schedular: true
  loss_pointmatching: false
  loss_l1_pos: true
  loss_l1_rot: true
  grasp_repr: r3_so3
  kappa: 2.02217
  clip_sample: true
  beta_schedule: squaredcos_cap_v2
  npn_architecture: ffn
  attention: cat_attn
  gripper_name: robotiq_2f_140
  pose_repr: mlp
  num_grasps_per_object: 500
  ptv3:
    grid_size: 0.01
discriminator:
  checkpoint: graspgen_robotiq_2f_140_dis.pth 
  checkpoint_object_encoder_pretrained: null
  obs_backbone: pointnet
  num_embed_dim: 256
  num_obs_dim: 512
  grasp_repr: r3_so3
  pose_repr: mlp
  topk_ratio: 0.75
  kappa: 2.02217
  gripper_name: robotiq_2f_140
  ptv3:
    grid_size: 0.01
optimizer:
  type: ADAMW
  base_batch_size: 128
  base_lr: 0.0008
  backbone_multiplier: 1.0
  grad_clip: -1
  weight_decay: 0.05
  lr_scale_multiplier: 1.0
  lr: 5.0e-05
  momentum: 0.9
train:
  model_name: m2t2
  num_gpus: 1
  port: '1234'
  mask_thresh: 0.0
  batch_size: 8
  num_workers: 8
  num_epochs: 160
  print_freq: 25
  plot_freq: 50
  save_freq: 10
  eval_freq: 5
  checkpoint: null
  log_dir: ''
  num_scenes: null
  debug: false
  debug_ddp: false
eval:
  model_name: diffusion-discriminator
  task: pick
  split: valid
  first_scene: -1
  last_scene: 1000
  scene: null
  acronym_dir: ''
  checkpoint: graspgen_robotiq_2f_140_gen.pth 
  output_dir: null
  exp_name: null
  cam_coord: false
  object_thresh: 0.0
  mask_thresh: 0.6
  seed_thresh: null
  num_seed_grasps: 150
  max_num_grasps: 200
  retract: 0.0
  grid_res: 0.01
  placement_height: 0.02
  placement_vis_radius: 0.2
  batch_size: 1
  num_workers: 1
  print_freq: 1
  num_procs: 4
  num_vis: 5
  num_runs: 1
  debug: true
  scene_file: ''
  output_file: ''
meshcat:
  visualize: true
  point_size: 0.01
  line_width: 2
obj:
  scale: 1.0
  num_sample_points: 2024