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config.yaml

@@ -37,7 +37,7 @@ softzoo_config:
   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: aioz_sim.yaml  # Placeholder, need to be inserted manually
+  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: *log_freq
   render_every_iter: *log_freq
   n_iters: 301

softzoo/Ep_Batch_-1_Sampling_-001_Local_0000.mp4

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:62365e05798692f83055c5a8dd3d747107209ad92c1874070b92e58b0c823717
-size 428268
+oid sha256:e2dc2d9431fab7228f50b5598124a11f2867e89804797bb69e80834d55ea2727
+size 477506

softzoo/ckpt/args.json

@@ -60,7 +60,7 @@
     "device_memory_fraction": 0.8,
     "dump_rendering_data": false,
     "env": "land_environment",
-    "env_config_file": "aioz_sim.yaml",
+    "env_config_file": "gripping_a_5_HTP_a_0.5_-0.5_-0.5_0.5_a_0.5.yaml",
     "eval": false,
     "final_target_idx": null,
     "fixed_v": "gripping_5_HTP.json",

softzoo/ckpt/env_config.yaml

@@ -1,87 +1,136 @@
-SIMULATOR:
-  dim: 3
-  gravity: [0., -3.8, 0.]
-  default_dt: 5.e-4
-  quality: 0.65
-  padding: [28, 3, 28]
-  needs_grad: True
-  use_checkpointing: True
-  max_substeps_local: 20
-  max_substeps: 7000
-  max_num_particles: 30000
-  use_dynamic_field: False
-  checkpoint_cache_device: torch_cpu
-  base_active_materials: []
-  max_actuation: 81
 ENVIRONMENT:
   use_semantic_occupancy: False
-  objective: throw_object
-  objective_config:
-    reward_mode: final
-    forward_direction: [0., 1., 0.]
-    max_episode_steps: 100
-    obj_particles_id: 2
+  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:
-    # Terrain
-    - type: Static.BoundingBox # World boundary
-      semantic_id: 0 # static obstacle
-    - type: Static.Terrain
-      surface: Surface.Slip
-      semantic_id: 0 # static obstacle
-      friction: 0.5
-      min_height: &ground_height 0.1
-      max_height: *ground_height
-      dampen_coeff: 1.0 # Should be around 0.5-0.6, lower will cause sinking, higher will cause bounce.
-    - type: Primitive.Box
-      size: [0.03, 0.08, 0.03]
-      sample_density: 8
-      initial_position: [0.25, 0.12, 0.4]
-      initial_velocity: [0., 0., 0.]
-      material: FakeRigid
-      particle_id: 2
-      semantic_id: 2
-      particle_info:
+  - 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: /LOCAL3/anguyen/nghiale/Data/mujoco_scanned_objects/models/5_HTP/model.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]
-  # Environment-specific
-  use_renderer: False
   actuation_strength: 0.3
-  observation_space: [time, com]
   design_space: pbr
   design_space_config:
-    n_actuators: 81
-    initial_principle_direction: [1., 0., 0.]
-    p_rho_lower_bound_mul: 0.1
     base_shape:
-      type: Primitive.Box
-      size: [1.e-3, 1.e-3, 1.e-3]
-      sample_density: 32
-      initial_position: [0.55, 0.22, 0.4]
-      initial_velocity: [0., 0., 0.]
+      initial_position:
+      - 0.55
+      - 0.225
+      - 0.4
+      initial_velocity:
+      - 0.0
+      - 0.0
+      - 0.0
       material: DiffAquaMuscle
-      particle_id: 3 # used as robot id
+      particle_id: 3
       particle_info:
-        p_rho_0: 1.e+3
-        E_0: 1.e+4
+        E_0: 10000.0
+        p_rho_0: 1000.0
+      sample_density: 42
       semantic_id: 3
-  CUSTOM:
-    randomize_terrain: False
-    has_matter_on_ground: False
-    matter_id: 4
-    matter_materials: []
-    matter_thickness: 0.02
-    matter_sample_density: 8
-    matter_semantic_id: 4
-    matter_youngs_modulus: 1.e+5
-    matter_padding: [32, 3, 32]
+      size:
+      - 0.1
+      - 0.1
+      - 0.1
+      type: Primitive.Box
+    initial_principle_direction:
+    - 1.0
+    - 0.0
+    - 0.0
+    n_actuators: 81
+    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: 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
+    ambient_light:
+    - 0.5
+    - 0.5
+    - 0.5
+    camera_lookat:
+    - 0.5
+    - 0.1
+    - 0.5
+    camera_position:
+    - 0.5
+    - 0.25
+    - 0.05
     ground_surface_cmap: textures/ground.png
-    res: [1920, 1080]
-    # meshify_particle_ids: [2]
-    # meshification_colors: [[1.,0.,0.,1.]]
+    particle_coloring_mode: actuation
+    particle_radius: 0.002
+    res:
+    - 1920
+    - 1080
+  type: ggui
+SIMULATOR:
+  base_active_materials: []
+  checkpoint_cache_device: torch_cpu
+  default_dt: 0.0005
+  dim: 3
+  gravity:
+  - 0.0
+  - -3.8
+  - 0.0
+  max_actuation: 81
+  max_num_particles: 55000
+  max_substeps: 7000
+  max_substeps_local: 20
+  needs_grad: true
+  padding:
+  - 28
+  - 3
+  - 28
+  quality: 0.825
+  use_checkpointing: true
+  use_dynamic_field: false

training.log

@@ -158,3 +158,61 @@
 2025-12-11 04:13:57,239 [WARNING] Cluster 78 has too few points (0).
 2025-12-11 04:13:57,239 [WARNING] Cluster 79 has too few points (0).
 2025-12-11 04:13:57,239 [WARNING] Cluster 80 has too few points (0).
+2025-12-11 04:18:47,385 [WARNING] Warning!!!!: 
+ The number of actuators 81 must be equal to the number of generated labels 25. Probllem in configuration files
+2025-12-11 04:18:47,446 [WARNING] Cluster 25 has too few points (0).
+2025-12-11 04:18:47,446 [WARNING] Cluster 26 has too few points (0).
+2025-12-11 04:18:47,446 [WARNING] Cluster 27 has too few points (0).
+2025-12-11 04:18:47,446 [WARNING] Cluster 28 has too few points (0).
+2025-12-11 04:18:47,446 [WARNING] Cluster 29 has too few points (0).
+2025-12-11 04:18:47,446 [WARNING] Cluster 30 has too few points (0).
+2025-12-11 04:18:47,446 [WARNING] Cluster 31 has too few points (0).
+2025-12-11 04:18:47,447 [WARNING] Cluster 32 has too few points (0).
+2025-12-11 04:18:47,447 [WARNING] Cluster 33 has too few points (0).
+2025-12-11 04:18:47,447 [WARNING] Cluster 34 has too few points (0).
+2025-12-11 04:18:47,447 [WARNING] Cluster 35 has too few points (0).
+2025-12-11 04:18:47,447 [WARNING] Cluster 36 has too few points (0).
+2025-12-11 04:18:47,447 [WARNING] Cluster 37 has too few points (0).
+2025-12-11 04:18:47,447 [WARNING] Cluster 38 has too few points (0).
+2025-12-11 04:18:47,447 [WARNING] Cluster 39 has too few points (0).
+2025-12-11 04:18:47,447 [WARNING] Cluster 40 has too few points (0).
+2025-12-11 04:18:47,447 [WARNING] Cluster 41 has too few points (0).
+2025-12-11 04:18:47,447 [WARNING] Cluster 42 has too few points (0).
+2025-12-11 04:18:47,447 [WARNING] Cluster 43 has too few points (0).
+2025-12-11 04:18:47,447 [WARNING] Cluster 44 has too few points (0).
+2025-12-11 04:18:47,447 [WARNING] Cluster 45 has too few points (0).
+2025-12-11 04:18:47,447 [WARNING] Cluster 46 has too few points (0).
+2025-12-11 04:18:47,447 [WARNING] Cluster 47 has too few points (0).
+2025-12-11 04:18:47,447 [WARNING] Cluster 48 has too few points (0).
+2025-12-11 04:18:47,447 [WARNING] Cluster 49 has too few points (0).
+2025-12-11 04:18:47,447 [WARNING] Cluster 50 has too few points (0).
+2025-12-11 04:18:47,447 [WARNING] Cluster 51 has too few points (0).
+2025-12-11 04:18:47,447 [WARNING] Cluster 52 has too few points (0).
+2025-12-11 04:18:47,447 [WARNING] Cluster 53 has too few points (0).
+2025-12-11 04:18:47,447 [WARNING] Cluster 54 has too few points (0).
+2025-12-11 04:18:47,447 [WARNING] Cluster 55 has too few points (0).
+2025-12-11 04:18:47,447 [WARNING] Cluster 56 has too few points (0).
+2025-12-11 04:18:47,447 [WARNING] Cluster 57 has too few points (0).
+2025-12-11 04:18:47,447 [WARNING] Cluster 58 has too few points (0).
+2025-12-11 04:18:47,447 [WARNING] Cluster 59 has too few points (0).
+2025-12-11 04:18:47,447 [WARNING] Cluster 60 has too few points (0).
+2025-12-11 04:18:47,447 [WARNING] Cluster 61 has too few points (0).
+2025-12-11 04:18:47,447 [WARNING] Cluster 62 has too few points (0).
+2025-12-11 04:18:47,447 [WARNING] Cluster 63 has too few points (0).
+2025-12-11 04:18:47,447 [WARNING] Cluster 64 has too few points (0).
+2025-12-11 04:18:47,447 [WARNING] Cluster 65 has too few points (0).
+2025-12-11 04:18:47,447 [WARNING] Cluster 66 has too few points (0).
+2025-12-11 04:18:47,447 [WARNING] Cluster 67 has too few points (0).
+2025-12-11 04:18:47,447 [WARNING] Cluster 68 has too few points (0).
+2025-12-11 04:18:47,447 [WARNING] Cluster 69 has too few points (0).
+2025-12-11 04:18:47,447 [WARNING] Cluster 70 has too few points (0).
+2025-12-11 04:18:47,447 [WARNING] Cluster 71 has too few points (0).
+2025-12-11 04:18:47,447 [WARNING] Cluster 72 has too few points (0).
+2025-12-11 04:18:47,448 [WARNING] Cluster 73 has too few points (0).
+2025-12-11 04:18:47,448 [WARNING] Cluster 74 has too few points (0).
+2025-12-11 04:18:47,448 [WARNING] Cluster 75 has too few points (0).
+2025-12-11 04:18:47,448 [WARNING] Cluster 76 has too few points (0).
+2025-12-11 04:18:47,448 [WARNING] Cluster 77 has too few points (0).
+2025-12-11 04:18:47,448 [WARNING] Cluster 78 has too few points (0).
+2025-12-11 04:18:47,448 [WARNING] Cluster 79 has too few points (0).
+2025-12-11 04:18:47,448 [WARNING] Cluster 80 has too few points (0).