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config.yaml

@@ -2,7 +2,7 @@ exp_name: debug_server
 seed: &seed 22
 out_dir: ./logs/
 tensorboard_log_dir: runs/
-save_every_iter: &log_freq 12
+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
 
@@ -19,18 +19,6 @@ cond_config:
   #   logging_bool: True
 cond_overall_logging: True
 
-preload_emb:
-  condition_embedding: 
-    shape: [1,3,224,224]
-    path: asset/img_asset/ver_rec.png
-    random: False
-  diffusion_noise: 
-    shape: [2,6,1024]
-    path: asset/embeddings/base_noise_cone.npy
-  upsample_noise: 
-    shape: [1,6,3072]
-    path: asset/embeddings/upsample_noise_cone.npy
-
 softzoo_config:
   custom_gravity: False
   # eval: True
@@ -52,10 +40,13 @@ softzoo_config:
   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: 0.8
+  device_memory_fraction: 0.775
 
   optimize_designer: True
   optimize_design_types: ['geometry','softness_E','softness_v','suction_val']
@@ -69,11 +60,3 @@ softzoo_config:
   design_device: cpu
   obj_initial_pos: [0,0,0]
   num_fingers: 2
-
-pointe_config:
-  base_model_name: base40M
-  device: cuda:1
-  guidance_scale: [3.0, 0.0]
-  num_points: [1024, 3072]
-  sampling_mode: ddim
-  

softzoo/Ep_Batch_-1_Sampling_-001_Local_0000.mp4

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:912f26d667065cd4a9c39b4d84024d73aff133e2a1e97bb65f3968b000c555bb
-size 465195
+oid sha256:24b7ee22ea9c38067b9c3c52e84e886391336f798eb28483f2e583cec5ebd11b
+size 485250

softzoo/ckpt/args.json

@@ -53,11 +53,21 @@
     "cppn_seed_meshes": [],
     "custom_gravity": false,
     "design_device": "cpu",
+    "design_loss_coeffs": [
+        1.0,
+        1.0,
+        1.0
+    ],
+    "design_loss_types": [
+        "FingerPenLoss",
+        "SegmentGrowthLoss",
+        "BasePenLoss"
+    ],
     "designer_geometry_offset": 0.5,
     "designer_lr": 0.1,
     "designer_softness_offset": 0.5,
     "designer_type": "mlp",
-    "device_memory_fraction": 0.8,
+    "device_memory_fraction": 0.775,
     "dump_rendering_data": false,
     "env": "land_environment",
     "env_config_file": "gripping_a_5_HTP_a_0.5_-0.5_-0.5_0.5_a_0.5.yaml",
@@ -159,7 +169,7 @@
     "optimize_designer": true,
     "out_dir": "./logs/debug_server/softzoo",
     "recenter_mesh_target": false,
-    "render_every_iter": 12,
+    "render_every_iter": 1,
     "rotation_up_direction": [
         0.0,
         1.0,
@@ -167,7 +177,7 @@
     ],
     "save_controller": false,
     "save_designer": false,
-    "save_every_iter": 12,
+    "save_every_iter": 1,
     "sdf_basis_actuator_mul": 1.0,
     "sdf_basis_coefs_activation": "linear",
     "sdf_basis_init_coefs_actuator": null,

softzoo/ckpt/env_config.yaml

@@ -78,7 +78,7 @@ ENVIRONMENT:
     - 1.0
     - 0.0
     - 0.0
-    n_actuators: 81
+    n_actuators: 101
     p_rho_lower_bound_mul: 0.1
   objective: throw_object
   objective_config:
@@ -117,21 +117,21 @@ RENDERER:
 SIMULATOR:
   base_active_materials: []
   checkpoint_cache_device: torch_cpu
-  default_dt: 5.e-5
+  default_dt: 1.e-4
   dim: 3
   gravity:
   - 0.0
   - -3.8
   - 0.0
-  max_actuation: 81
+  max_actuation: 101
   max_num_particles: 55000
-  max_substeps: 17000
+  max_substeps: 10000
   max_substeps_local: 25
   needs_grad: true
   padding:
   - 28
   - 3
   - 28
-  quality: 0.825
+  quality: 0.82
   use_checkpointing: true
   use_dynamic_field: false

softzoo/design/gripper_batch_-1.npz

@@ -1,3 +1,3 @@
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-oid sha256:cf9cc7cb2f42a0c0b29c4edddb3d5156eeed6c7a1be8e3ccc19c10d1b2bb3d55
-size 462
+oid sha256:c3047725d560ca91e82d6599c8449e1cdb9e7b6c97bc60a6986423ca9c90d8bc
+size 486