ENVIRONMENT:
  use_semantic_occupancy: False
  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:
  - 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]
  actuation_strength: 0.3
  design_space: pbr
  design_space_config:
    base_shape:
      initial_position:
      - 0.55
      - 0.225
      - 0.4
      initial_velocity:
      - 0.0
      - 0.0
      - 0.0
      material: DiffAquaMuscle
      particle_id: 3
      particle_info:
        E_0: 7.5e+4
        nu_0: 0.3
        p_rho_0: 1000.0
      sample_density: 42
      semantic_id: 3
      size:
      - 0.1
      - 0.1
      - 0.1
      type: Primitive.Box
    initial_principle_direction:
    - 1.0
    - 0.0
    - 0.0
    n_actuators: 101
    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:
  GGUI:
    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
    particle_coloring_mode: actuation
    particle_radius: 0.002
    res:
    - 1920
    - 1080
  type: ggui
SIMULATOR:
  base_active_materials: []
  checkpoint_cache_device: torch_cpu
  default_dt: 1.e-4
  dim: 3
  gravity:
  - 0.0
  - -3.8
  - 0.0
  max_actuation: 101
  max_num_particles: 55000
  max_substeps: 10000
  max_substeps_local: 25
  needs_grad: true
  padding:
  - 28
  - 3
  - 28
  quality: 0.82
  use_checkpointing: true
  use_dynamic_field: false