config.yaml

exp_name: debug_server
seed: &seed 22
out_dir: ./logs/
tensorboard_log_dir: runs/
save_every_iter: &log_freq 12
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
  layout_config_file: hand.json
  desc_prompt: base.txt
  viewpoint: [-1.,-0.25,-0.1]
  save_every_iter: *log_freq
  render_every_iter: 8
  n_iters: 301
  n_frames: 100

  controller_type: all_on
  active: True
  action_v_strength: 0.35

  loss_types: [ObjectBalancedLoss,ContactLoss,ThrowingObjectLoss]
  loss_coefs: [0.5,2.0,2.0]
  obj_x_mul: [0.,1.,0.]
  com_x_mul: [2.,1.,2.]
  obj_particle_id: 2

  design_loss_types:  ['FingerPenLoss','SegmentGrowthLoss','SelfFingerPenLoss']
  design_loss_coeffs: [0.5,0.001,0.1]

  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