config_grasp.yml

train_root: "dataset/nut/train"
val_root: "dataset/nut/test"
batch_size: 240
n_workers: 30

class_name: nut
random_seed: 0
n_epochs: 70
n_pts: 2048
start_lr: 0.01
lr_milestones: [30,50]
optimizer_type: adam
weight_decay: 0.0000001
input_channel: 6
classes: [0, 0.1, 0.2, 0.3, 0.4, 0.5, 0.6, 0.7, 0.8, 0.9, 1.01]

################# Augmentations
rotate_cloud_prob: 0
flip_cloud_prob: 0.5


# Grasping params
gripper_dir:
  nut: 'urdf/robotiq_hande'
  hnm: 'urdf/robotiq_hande'
  screw: 'urdf/robotiq_hande'

target_num_grasps: -1

sampling_friction_coef: 2.0
num_cone_faces: 8
grasp_samples_per_surface_point: 2
max_num_surface_points: 100
min_contact_dist: 0.0025