dex-net_4.0_pj.yaml

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policy:
  # optimization params
  num_seed_samples: 128
  num_gmm_samples: 64
  num_iters: 3
  gmm_refit_p: 0.25
  gmm_component_frac: 0.4
  gmm_reg_covar: 0.01

  # general params
  deterministic: 1
  gripper_width: 0.05

  # sampling params
  sampling:
    # type
    type: antipodal_depth

    # antipodality
    friction_coef: 1.0
    depth_grad_thresh: 0.0025
    depth_grad_gaussian_sigma: 1.0
    downsample_rate: 4
    max_rejection_samples: 4000

    # distance
    max_dist_from_center: 160
    min_dist_from_boundary: 45
    min_grasp_dist: 2.5
    angle_dist_weight: 5.0

    # depth sampling
    depth_sampling_mode: uniform
    depth_samples_per_grasp: 3
    depth_sample_win_height: 1
    depth_sample_win_width: 1
    min_depth_offset: 0.015
    max_depth_offset: 0.05

  # metrics
  metric:
    type: gqcnn
    gqcnn_model: models/GQCNN-4.0-PJ
    # openvino: OFF|CPU|GPU|MYRIAD
    openvino: OFF
    
    crop_height: 96
    crop_width: 96

  # visualization
  vis:
    grasp_sampling : 0
    tf_images: 0
    grasp_candidates: 0
    elite_grasps: 0
    grasp_ranking: 0
    grasp_plan: 0
    final_grasp: 1

    vmin: 0.0
    vmax: 1.0

    k: 25

# image proc params
inpaint_rescale_factor: 0.5