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config.yaml

@@ -25,7 +25,7 @@ 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: gripping_a_5_HTP_a_0.5_-0.5_-0.5_0.5_a_0.5.yaml  # Placeholder, need to be inserted manually
+  env_config_file: debug_server.yaml  # Placeholder, need to be inserted manually
   layout_config_file: hand.json
   desc_prompt: base.txt
   viewpoint: [-1.,-0.25,-0.1]
@@ -39,13 +39,13 @@ softzoo_config:
   action_v_strength: 0.35
 
   loss_types: [ObjectBalancedLoss,ContactLoss,ThrowingObjectLoss]
-  loss_coefs: [0.5,2.0,2.0]
+  loss_coefs: [1.e-4,1.e-5,1.0]
   obj_x_mul: [0.,1.,0.]
-  com_x_mul: [2.,1.,2.]
+  com_x_mul: [1.,2.,1.]
   obj_particle_id: 2
 
-  design_loss_types:  ['FingerPenLoss','SegmentGrowthLoss','SelfFingerPenLoss','AngleLoss']
-  design_loss_coeffs: [0.5,0.001,0.1,0.1]
+  design_loss_types:  []
+  design_loss_coeffs: []
 
   seed: *seed  # Placeholder, do not use
   torch_seed: *seed  # Placeholder, do not use
@@ -59,7 +59,7 @@ softzoo_config:
   gen_pointe_bounding_box:
     max: [1.5,0.1,1.5]
     # mean: [0.,0.,0.]
-    min: [-1.5,-3.5,-1.5]
+    min: [-1.5,-3.0,-1.5]
 
   design_device: cpu
   obj_initial_pos: [0,0,0]

softzoo/Ep_Batch_-1_Sampling_-001_Local_0000.mp4

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:3a8a5adc1315c51eb5911485858cd3ea81d5d4890643fab9839bdef74c8b73cc
-size 436801
+oid sha256:19e8328380cc285fe9d785c4b17933aa95715faac1a61abaedaa425e20470cd6
+size 478280

softzoo/ckpt/args.json

@@ -24,9 +24,9 @@
         "objective"
     ],
     "com_x_mul": [
-        2.0,
         1.0,
-        2.0
+        2.0,
+        1.0
     ],
     "controller_lr": 0.003,
     "controller_mlp_activation": "Tanh",
@@ -59,18 +59,8 @@
     "custom_gravity": false,
     "desc_prompt": "base.txt",
     "design_device": "cpu",
-    "design_loss_coeffs": [
-        0.5,
-        0.001,
-        0.1,
-        0.1
-    ],
-    "design_loss_types": [
-        "FingerPenLoss",
-        "SegmentGrowthLoss",
-        "SelfFingerPenLoss",
-        "AngleLoss"
-    ],
+    "design_loss_coeffs": [],
+    "design_loss_types": [],
     "designer_geometry_offset": 0.5,
     "designer_lr": 0.1,
     "designer_softness_offset": 0.5,
@@ -78,7 +68,7 @@
     "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",
+    "env_config_file": "debug_server.yaml",
     "eval": false,
     "final_target_idx": null,
     "fixed_v": "gripping_5_HTP.json",
@@ -90,7 +80,7 @@
         ],
         "min": [
             -1.5,
-            -3.5,
+            -3.0,
             -1.5
         ]
     },
@@ -108,9 +98,9 @@
     "log_every_iter": 1,
     "log_reward": false,
     "loss_coefs": [
-        0.5,
-        2.0,
-        2.0
+        0.0001,
+        1e-05,
+        1.0
     ],
     "loss_landscape_vbr_grid_index": [
         0,

softzoo/ckpt/env_config.yaml

@@ -23,7 +23,7 @@ ENVIRONMENT:
     semantic_id: 0
     surface: Surface.Slip
     type: Static.Terrain
-  - file_path: /LOCAL3/anguyen/nghiale/Data/mujoco_scanned_objects/models/5_HTP/model.obj
+  - file_path: asset/obj_placeholder/bottle.obj
     ground_height: 0.101
     initial_position:
     - 0.55
@@ -67,12 +67,12 @@ ENVIRONMENT:
         E_0: 7.5e+4
         nu_0: 0.3
         p_rho_0: 1000.0
-      sample_density: 45
+      sample_density: 42
       semantic_id: 3
       size:
-      - 0.1
-      - 0.1
-      - 0.1
+      - 0.1025
+      - 0.1025
+      - 0.1025
       type: Primitive.Box
     initial_principle_direction:
     - 1.0

softzoo/design/gripper_batch_-1.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:ea622a45800f21eeaeb10f1f33f4da2d1ebb7a2c7366432a388e48a3f31bfaf2
-size 482
+oid sha256:4a22009c9b5d79e1e8d96d52833868344de55b2fb75d5150bb3add790be21d3d
+size 2004