Upload folder using huggingface_hub

config.yaml

@@ -58,7 +58,7 @@ softzoo_config:
   device_memory_fraction: 0.8
 
   optimize_designer: True
-  optimize_design_types: ['geometry','softness','suction_val']
+  optimize_design_types: ['geometry','softness_E','softness_v','suction_val']
   designer_lr: 0.1
   optimize_controller: True
   gen_pointe_bounding_box:

softzoo/Ep_Batch_-1_Sampling_-001_Local_0000.mp4

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:17c3d2cdcf4f214cd21262b533ffa697e51552f3dfe7036b55a666ba32f2e5e7
-size 457843
+oid sha256:b2dc0d7fa139886e04b261ed8efe92bb0187e2aa076533c28d176e869e8add71
+size 459068

softzoo/ckpt/args.json

@@ -152,7 +152,8 @@
     "optimize_controller": true,
     "optimize_design_types": [
         "geometry",
-        "softness",
+        "softness_E",
+        "softness_v",
         "suction_val"
     ],
     "optimize_designer": true,
@@ -182,7 +183,8 @@
     "seed": 22,
     "set_design_types": [
         "geometry",
-        "softness",
+        "softness_E",
+        "softness_v",
         "actuator",
         "actuator_direction",
         "is_passive_fixed",

softzoo/ckpt/env_config.yaml

@@ -64,7 +64,8 @@ ENVIRONMENT:
       material: DiffAquaMuscle
       particle_id: 3
       particle_info:
-        E_0: 10000.0
+        E_0: 1.e+5
+        nu_0: 0.3
         p_rho_0: 1000.0
       sample_density: 42
       semantic_id: 3
@@ -116,7 +117,7 @@ RENDERER:
 SIMULATOR:
   base_active_materials: []
   checkpoint_cache_device: torch_cpu
-  default_dt: 0.0005
+  default_dt: 5.e-5
   dim: 3
   gravity:
   - 0.0
@@ -124,8 +125,8 @@ SIMULATOR:
   - 0.0
   max_actuation: 81
   max_num_particles: 55000
-  max_substeps: 7000
-  max_substeps_local: 20
+  max_substeps: 17000
+  max_substeps_local: 25
   needs_grad: true
   padding:
   - 28

softzoo/design/gripper_batch_-1.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:8c70a00218cc33b5b99e51a6a2d0bf2d8fc533d9cb00ac1a156435997cceed38
-size 457
+oid sha256:b873e8ab5a000e6b2e3f99c9b6c73eb929a854600acfec923ef104d61b7ba83b
+size 455