| ENVIRONMENT: | |
| use_semantic_occupancy: False | |
| CUSTOM: | |
| has_matter_on_ground: false | |
| matter_id: 4 | |
| matter_materials: [] | |
| matter_padding: | |
| - 32 | |
| - 3 | |
| - 32 | |
| matter_sample_density: 8 | |
| matter_semantic_id: 4 | |
| matter_thickness: 0.02 | |
| matter_youngs_modulus: 100000.0 | |
| randomize_terrain: false | |
| ITEMS: | |
| - semantic_id: 0 | |
| type: Static.BoundingBox | |
| - dampen_coeff: 1.0 | |
| friction: 0.5 | |
| max_height: 0.1 | |
| min_height: 0.1 | |
| semantic_id: 0 | |
| surface: Surface.Slip | |
| type: Static.Terrain | |
| - file_path: asset/obj_placeholder/bottle.obj | |
| ground_height: 0.101 | |
| initial_position: | |
| - 0.55 | |
| - 0.0 | |
| - 0.4 | |
| initial_rotation: | |
| - 0.5 | |
| - -0.5 | |
| - -0.5 | |
| - 0.5 | |
| initial_velocity: | |
| - 0.0 | |
| - 0.0 | |
| - 0.0 | |
| material: FakeRigid | |
| particle_id: 2 | |
| sample_density: 16 | |
| scale: | |
| - 0.5 | |
| - 0.5 | |
| - 0.5 | |
| semantic_id: 2 | |
| type: Primitive.Mesh | |
| particle_info: | |
| p_rho_0: !!float 7.e+2 # [6e+2, 5e+3] | |
| actuation_strength: 0.3 | |
| design_space: pbr | |
| design_space_config: | |
| base_shape: | |
| initial_position: | |
| - 0.55 | |
| - 0.225 | |
| - 0.4 | |
| initial_velocity: | |
| - 0.0 | |
| - 0.0 | |
| - 0.0 | |
| material: DiffAquaMuscle | |
| particle_id: 3 | |
| particle_info: | |
| E_0: 7.5e+4 | |
| nu_0: 0.3 | |
| p_rho_0: 1000.0 | |
| sample_density: 24 | |
| semantic_id: 3 | |
| size: | |
| - 0.1125 | |
| - 0.1125 | |
| - 0.1125 | |
| type: Primitive.Box | |
| initial_principle_direction: | |
| - 1.0 | |
| - 0.0 | |
| - 0.0 | |
| n_actuators: 101 | |
| p_rho_lower_bound_mul: 0.1 | |
| objective: throw_object | |
| objective_config: | |
| forward_direction: | |
| - 0.0 | |
| - 1.0 | |
| - 0.0 | |
| max_episode_steps: 100 | |
| obj_particles_id: 2 | |
| reward_mode: final | |
| observation_space: | |
| - time | |
| - com | |
| use_renderer: false | |
| RENDERER: | |
| type: ply | |
| PLY: | |
| particle_coloring_mode: actuation | |
| # RENDERER: | |
| # type: ggui | |
| # GGUI: | |
| # ambient_light: [0.5, 0.5, 0.5] | |
| # camera_lookat: [0.5, 0.1, 0.5] # horizontal look | |
| # camera_position: [0.5, 0.25, 0.05] | |
| # particle_radius: 0.002 | |
| # particle_coloring_mode: actuation | |
| # ground_surface_cmap: textures/ground.png | |
| # res: [1920, 1080] | |
| # # meshify_particle_ids: [2] | |
| # # meshification_colors: [[1.,0.,0.,1.]] | |
| SIMULATOR: | |
| base_active_materials: [] | |
| checkpoint_cache_device: torch_cpu | |
| default_dt: 1.e-4 | |
| dim: 3 | |
| gravity: | |
| - 0.0 | |
| - -3.8 | |
| - 0.0 | |
| max_actuation: 101 | |
| max_num_particles: 80000 | |
| max_substeps: 10000 | |
| max_substeps_local: 15 | |
| needs_grad: true | |
| padding: | |
| - 28 | |
| - 3 | |
| - 28 | |
| quality: 1.0 | |
| use_checkpointing: true | |
| use_dynamic_field: false | |