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config.yaml

@@ -44,8 +44,8 @@ softzoo_config:
   com_x_mul: [1.,2.,1.]
   obj_particle_id: 2
 
-  design_loss_types:  []
-  design_loss_coeffs: []
+  design_loss_types:  ['FingerPenLoss','SelfFingerPenLoss','CLIPLoss','AngleLoss']
+  design_loss_coeffs: [1.0,1.0,1.e-4,0.1]
 
   seed: *seed  # Placeholder, do not use
   torch_seed: *seed  # Placeholder, do not use

softzoo/Ep_Batch_-1_Sampling_-001_Local_0000.mp4

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:19e8328380cc285fe9d785c4b17933aa95715faac1a61abaedaa425e20470cd6
-size 478280
+oid sha256:8ccabd20690fc90208eacfb313beb279dc17c462696b39c9545b7becaebd78e7
+size 453081

softzoo/ckpt/args.json

@@ -59,8 +59,18 @@
     "custom_gravity": false,
     "desc_prompt": "base.txt",
     "design_device": "cpu",
-    "design_loss_coeffs": [],
-    "design_loss_types": [],
+    "design_loss_coeffs": [
+        1.0,
+        1.0,
+        0.0001,
+        0.1
+    ],
+    "design_loss_types": [
+        "FingerPenLoss",
+        "SelfFingerPenLoss",
+        "CLIPLoss",
+        "AngleLoss"
+    ],
     "designer_geometry_offset": 0.5,
     "designer_lr": 0.1,
     "designer_softness_offset": 0.5,

softzoo/ckpt/env_config.yaml

@@ -70,9 +70,9 @@ ENVIRONMENT:
       sample_density: 42
       semantic_id: 3
       size:
-      - 0.1025
-      - 0.1025
-      - 0.1025
+      - 0.1
+      - 0.1
+      - 0.1
       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 sha256:4a22009c9b5d79e1e8d96d52833868344de55b2fb75d5150bb3add790be21d3d
-size 2004
+oid sha256:ea622a45800f21eeaeb10f1f33f4da2d1ebb7a2c7366432a388e48a3f31bfaf2
+size 482