| exp_name: debug_server | |
| seed: &seed 22 | |
| out_dir: ./logs/ | |
| tensorboard_log_dir: runs/ | |
| save_every_iter: &log_freq 1 | |
| total_steps: 512 # Check diffusion_cfg to see how many steps there are in diffusion (normal diffusion + upsampler) | |
| substep_count: 1 # remember to update in diffusion config in pointe, under the k keys | |
| cond_config: | |
| - name: "SoftZoo_Sim" | |
| grad_scale: !!float 1e6 | |
| grad_clamp: !!float 1e0 | |
| calc_gradient: True | |
| logging_bool: True | |
| # - name: "Dist_To_Origin" | |
| # grad_scale: !!float 1e0 | |
| # grad_clamp: !!float 1e-2 | |
| # calc_gradient: True | |
| # logging_bool: True | |
| cond_overall_logging: True | |
| softzoo_config: | |
| custom_gravity: False | |
| # eval: True | |
| out_dir: null # Placeholder, need to be set in run.py | |
| fixed_v: gripping_5_HTP.json | |
| objects_set_file: objects_set_a.json | |
| env_config_file: gripping_a_5_HTP_a_0.5_-0.5_-0.5_0.5_a_0.5.yaml # Placeholder, need to be inserted manually | |
| save_every_iter: | |
| render_every_iter: | |
| n_iters: 301 | |
| n_frames: 100 | |
| controller_type: all_on | |
| active: True | |
| action_v_strength: 0.35 | |
| loss_types: [ObjectBalancedLoss,ContactLoss,DiffOrientationLoss] | |
| loss_coefs: [1.0,1.0,1.0] | |
| obj_x_mul: [0.,1.,0.] | |
| obj_particle_id: 2 | |
| design_loss_types: ['FingerPenLoss','SegmentGrowthLoss','BasePenLoss'] | |
| design_loss_coeffs: [1.0,1.0,1.0] | |
| seed: *seed # Placeholder, do not use | |
| torch_seed: *seed # Placeholder, do not use | |
| static_as_fixed: True | |
| device_memory_fraction: 0.775 | |
| optimize_designer: True | |
| optimize_design_types: ['geometry','softness_E','softness_v','suction_val'] | |
| designer_lr: 0.1 | |
| optimize_controller: True | |
| gen_pointe_bounding_box: | |
| max: [1.5,0.1,1.5] | |
| # mean: [0.,0.,0.] | |
| min: [-1.5,-3.5,-1.5] | |
| design_device: cpu | |
| obj_initial_pos: [0,0,0] | |
| num_fingers: 2 | |