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#23
by MNghia - opened
base: refs/heads/main
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from: refs/pr/23
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Files changed (50) hide show
  1. debug_server/config.yaml +1 -1
  2. debug_server/softzoo/Ep_Batch_0_Sampling_0000_Local_0000.mp4 +2 -2
  3. debug_server/softzoo/ckpt/args.json +2 -2
  4. debug_server/softzoo/design/actuator_direction_Batch_0_Sampling_0000_Local_0000.npy +0 -0
  5. debug_server/softzoo/design/geometry_Batch_0_Sampling_0000_Local_0000.pcd +0 -0
  6. debug_server/softzoo/design/mesh_Batch_0_Sampling_0000_Local_0000.ply +0 -0
  7. debug_server/softzoo/design/softness_Batch_0_Sampling_0000_Local_0000.pcd +0 -0
  8. debug_server/training.log +260 -0
  9. topdown_suction_orientation_loss/benchmark/gripping_a_5_HTP_a_0.5_-0.5_-0.5_0.5_a_0.5/ckpt/args.json +2 -2
  10. topdown_suction_orientation_loss/benchmark/gripping_a_5_HTP_a_0.5_-0.5_-0.5_0.5_a_0.5/gripping_result_id0.json +1 -1
  11. topdown_suction_orientation_loss/benchmark/gripping_a_5_HTP_a_0.5_-0.5_-0.5_0.5_a_0.5/gripping_result_id1.json +1 -1
  12. topdown_suction_orientation_loss/benchmark/gripping_a_5_HTP_a_0.5_-0.5_-0.5_0.5_a_0.5/gripping_result_id10.json +1 -0
  13. topdown_suction_orientation_loss/benchmark/gripping_a_5_HTP_a_0.5_-0.5_-0.5_0.5_a_0.5/gripping_result_id100.json +1 -0
  14. topdown_suction_orientation_loss/benchmark/gripping_a_5_HTP_a_0.5_-0.5_-0.5_0.5_a_0.5/gripping_result_id1000.json +1 -0
  15. topdown_suction_orientation_loss/benchmark/gripping_a_5_HTP_a_0.5_-0.5_-0.5_0.5_a_0.5/gripping_result_id1001.json +1 -0
  16. topdown_suction_orientation_loss/benchmark/gripping_a_5_HTP_a_0.5_-0.5_-0.5_0.5_a_0.5/gripping_result_id1002.json +1 -0
  17. topdown_suction_orientation_loss/benchmark/gripping_a_5_HTP_a_0.5_-0.5_-0.5_0.5_a_0.5/gripping_result_id1003.json +1 -0
  18. topdown_suction_orientation_loss/benchmark/gripping_a_5_HTP_a_0.5_-0.5_-0.5_0.5_a_0.5/gripping_result_id1004.json +1 -0
  19. topdown_suction_orientation_loss/benchmark/gripping_a_5_HTP_a_0.5_-0.5_-0.5_0.5_a_0.5/gripping_result_id1005.json +1 -0
  20. topdown_suction_orientation_loss/benchmark/gripping_a_5_HTP_a_0.5_-0.5_-0.5_0.5_a_0.5/gripping_result_id1006.json +1 -0
  21. topdown_suction_orientation_loss/benchmark/gripping_a_5_HTP_a_0.5_-0.5_-0.5_0.5_a_0.5/gripping_result_id1007.json +1 -0
  22. topdown_suction_orientation_loss/benchmark/gripping_a_5_HTP_a_0.5_-0.5_-0.5_0.5_a_0.5/gripping_result_id1008.json +1 -0
  23. topdown_suction_orientation_loss/benchmark/gripping_a_5_HTP_a_0.5_-0.5_-0.5_0.5_a_0.5/gripping_result_id1009.json +1 -0
  24. topdown_suction_orientation_loss/benchmark/gripping_a_5_HTP_a_0.5_-0.5_-0.5_0.5_a_0.5/gripping_result_id101.json +1 -0
  25. topdown_suction_orientation_loss/benchmark/gripping_a_5_HTP_a_0.5_-0.5_-0.5_0.5_a_0.5/gripping_result_id1010.json +1 -0
  26. topdown_suction_orientation_loss/benchmark/gripping_a_5_HTP_a_0.5_-0.5_-0.5_0.5_a_0.5/gripping_result_id1011.json +1 -0
  27. topdown_suction_orientation_loss/benchmark/gripping_a_5_HTP_a_0.5_-0.5_-0.5_0.5_a_0.5/gripping_result_id1012.json +1 -0
  28. topdown_suction_orientation_loss/benchmark/gripping_a_5_HTP_a_0.5_-0.5_-0.5_0.5_a_0.5/gripping_result_id1013.json +1 -0
  29. topdown_suction_orientation_loss/benchmark/gripping_a_5_HTP_a_0.5_-0.5_-0.5_0.5_a_0.5/gripping_result_id1014.json +1 -0
  30. topdown_suction_orientation_loss/benchmark/gripping_a_5_HTP_a_0.5_-0.5_-0.5_0.5_a_0.5/gripping_result_id1015.json +1 -0
  31. topdown_suction_orientation_loss/benchmark/gripping_a_5_HTP_a_0.5_-0.5_-0.5_0.5_a_0.5/gripping_result_id1016.json +1 -0
  32. topdown_suction_orientation_loss/benchmark/gripping_a_5_HTP_a_0.5_-0.5_-0.5_0.5_a_0.5/gripping_result_id1017.json +1 -0
  33. topdown_suction_orientation_loss/benchmark/gripping_a_5_HTP_a_0.5_-0.5_-0.5_0.5_a_0.5/gripping_result_id1018.json +1 -0
  34. topdown_suction_orientation_loss/benchmark/gripping_a_5_HTP_a_0.5_-0.5_-0.5_0.5_a_0.5/gripping_result_id1019.json +1 -0
  35. topdown_suction_orientation_loss/benchmark/gripping_a_5_HTP_a_0.5_-0.5_-0.5_0.5_a_0.5/gripping_result_id102.json +1 -0
  36. topdown_suction_orientation_loss/benchmark/gripping_a_5_HTP_a_0.5_-0.5_-0.5_0.5_a_0.5/gripping_result_id1020.json +1 -0
  37. topdown_suction_orientation_loss/benchmark/gripping_a_5_HTP_a_0.5_-0.5_-0.5_0.5_a_0.5/gripping_result_id1021.json +1 -0
  38. topdown_suction_orientation_loss/benchmark/gripping_a_5_HTP_a_0.5_-0.5_-0.5_0.5_a_0.5/gripping_result_id1022.json +1 -0
  39. topdown_suction_orientation_loss/benchmark/gripping_a_5_HTP_a_0.5_-0.5_-0.5_0.5_a_0.5/gripping_result_id1023.json +1 -0
  40. topdown_suction_orientation_loss/benchmark/gripping_a_5_HTP_a_0.5_-0.5_-0.5_0.5_a_0.5/gripping_result_id1024.json +1 -0
  41. topdown_suction_orientation_loss/benchmark/gripping_a_5_HTP_a_0.5_-0.5_-0.5_0.5_a_0.5/gripping_result_id1025.json +1 -0
  42. topdown_suction_orientation_loss/benchmark/gripping_a_5_HTP_a_0.5_-0.5_-0.5_0.5_a_0.5/gripping_result_id1026.json +1 -0
  43. topdown_suction_orientation_loss/benchmark/gripping_a_5_HTP_a_0.5_-0.5_-0.5_0.5_a_0.5/gripping_result_id1027.json +1 -0
  44. topdown_suction_orientation_loss/benchmark/gripping_a_5_HTP_a_0.5_-0.5_-0.5_0.5_a_0.5/gripping_result_id1028.json +1 -0
  45. topdown_suction_orientation_loss/benchmark/gripping_a_5_HTP_a_0.5_-0.5_-0.5_0.5_a_0.5/gripping_result_id1029.json +1 -0
  46. topdown_suction_orientation_loss/benchmark/gripping_a_5_HTP_a_0.5_-0.5_-0.5_0.5_a_0.5/gripping_result_id103.json +1 -0
  47. topdown_suction_orientation_loss/benchmark/gripping_a_5_HTP_a_0.5_-0.5_-0.5_0.5_a_0.5/gripping_result_id1030.json +1 -0
  48. topdown_suction_orientation_loss/benchmark/gripping_a_5_HTP_a_0.5_-0.5_-0.5_0.5_a_0.5/gripping_result_id1031.json +1 -0
  49. topdown_suction_orientation_loss/benchmark/gripping_a_5_HTP_a_0.5_-0.5_-0.5_0.5_a_0.5/gripping_result_id1032.json +1 -0
  50. topdown_suction_orientation_loss/benchmark/gripping_a_5_HTP_a_0.5_-0.5_-0.5_0.5_a_0.5/gripping_result_id1033.json +1 -0
debug_server/config.yaml CHANGED
@@ -2,7 +2,7 @@ exp_name: debug_server
2
  seed: &seed 310
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  out_dir: ./logs/
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  tensorboard_log_dir: runs/
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- save_every_iter: &log_freq 10
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  total_steps: 512 # Check diffusion_cfg to see how many steps there are in diffusion (normal diffusion + upsampler)
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  substep_count: 1 # remember to update in diffusion config in pointe, under the k keys
8
 
 
2
  seed: &seed 310
3
  out_dir: ./logs/
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  tensorboard_log_dir: runs/
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+ save_every_iter: &log_freq 1
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  total_steps: 512 # Check diffusion_cfg to see how many steps there are in diffusion (normal diffusion + upsampler)
7
  substep_count: 1 # remember to update in diffusion config in pointe, under the k keys
8
 
debug_server/softzoo/Ep_Batch_0_Sampling_0000_Local_0000.mp4 CHANGED
@@ -1,3 +1,3 @@
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  version https://git-lfs.github.com/spec/v1
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- oid sha256:575fe2d99b0a7cad37770df26112fbf206982dff74a98b9d5effa9daf70a0d81
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- size 540745
 
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  version https://git-lfs.github.com/spec/v1
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+ oid sha256:f6d492abbe8c541ff85b50977e0b3fae4fb8e1286bc86108cc60fcf13dcbfe38
3
+ size 534607
debug_server/softzoo/ckpt/args.json CHANGED
@@ -157,7 +157,7 @@
157
  "optimize_designer": true,
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  "out_dir": "./logs/debug_server/softzoo",
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  "recenter_mesh_target": false,
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- "render_every_iter": 10,
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  "rotation_up_direction": [
162
  0.0,
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  1.0,
@@ -165,7 +165,7 @@
165
  ],
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  "save_controller": false,
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  "save_designer": false,
168
- "save_every_iter": 10,
169
  "sdf_basis_actuator_mul": 1.0,
170
  "sdf_basis_coefs_activation": "linear",
171
  "sdf_basis_init_coefs_actuator": null,
 
157
  "optimize_designer": true,
158
  "out_dir": "./logs/debug_server/softzoo",
159
  "recenter_mesh_target": false,
160
+ "render_every_iter": 1,
161
  "rotation_up_direction": [
162
  0.0,
163
  1.0,
 
165
  ],
166
  "save_controller": false,
167
  "save_designer": false,
168
+ "save_every_iter": 1,
169
  "sdf_basis_actuator_mul": 1.0,
170
  "sdf_basis_coefs_activation": "linear",
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  "sdf_basis_init_coefs_actuator": null,
debug_server/softzoo/design/actuator_direction_Batch_0_Sampling_0000_Local_0000.npy CHANGED
Binary files a/debug_server/softzoo/design/actuator_direction_Batch_0_Sampling_0000_Local_0000.npy and b/debug_server/softzoo/design/actuator_direction_Batch_0_Sampling_0000_Local_0000.npy differ
 
debug_server/softzoo/design/geometry_Batch_0_Sampling_0000_Local_0000.pcd CHANGED
Binary files a/debug_server/softzoo/design/geometry_Batch_0_Sampling_0000_Local_0000.pcd and b/debug_server/softzoo/design/geometry_Batch_0_Sampling_0000_Local_0000.pcd differ
 
debug_server/softzoo/design/mesh_Batch_0_Sampling_0000_Local_0000.ply CHANGED
Binary files a/debug_server/softzoo/design/mesh_Batch_0_Sampling_0000_Local_0000.ply and b/debug_server/softzoo/design/mesh_Batch_0_Sampling_0000_Local_0000.ply differ
 
debug_server/softzoo/design/softness_Batch_0_Sampling_0000_Local_0000.pcd CHANGED
Binary files a/debug_server/softzoo/design/softness_Batch_0_Sampling_0000_Local_0000.pcd and b/debug_server/softzoo/design/softness_Batch_0_Sampling_0000_Local_0000.pcd differ
 
debug_server/training.log CHANGED
@@ -206,3 +206,263 @@
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  2025-11-18 09:32:24,190 [WARNING] Cluster 78 has too few points (0).
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  2025-11-18 09:32:24,190 [WARNING] Cluster 79 has too few points (0).
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  2025-11-18 09:32:24,190 [WARNING] Cluster 80 has too few points (0).
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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  2025-11-18 09:32:24,190 [WARNING] Cluster 78 has too few points (0).
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  2025-11-18 09:32:24,190 [WARNING] Cluster 79 has too few points (0).
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  2025-11-18 09:32:24,190 [WARNING] Cluster 80 has too few points (0).
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+ 2025-11-18 09:37:43,406 [WARNING] Warning!!!!:
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+ The number of actuators 81 must be equal to the number of generated labels 57. Probllem in configuration files
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+ 2025-11-18 09:37:43,542 [WARNING] Cluster 57 has too few points (0).
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+ 2025-11-18 09:37:43,542 [WARNING] Cluster 58 has too few points (0).
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+ 2025-11-18 09:37:43,542 [WARNING] Cluster 59 has too few points (0).
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+ 2025-11-18 09:37:43,542 [WARNING] Cluster 60 has too few points (0).
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+ 2025-11-18 09:37:43,542 [WARNING] Cluster 61 has too few points (0).
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+ 2025-11-18 09:37:43,542 [WARNING] Cluster 62 has too few points (0).
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+ 2025-11-18 09:37:43,542 [WARNING] Cluster 63 has too few points (0).
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+ 2025-11-18 09:37:43,542 [WARNING] Cluster 64 has too few points (0).
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+ 2025-11-18 09:37:43,542 [WARNING] Cluster 65 has too few points (0).
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+ 2025-11-18 09:37:43,543 [WARNING] Cluster 66 has too few points (0).
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+ 2025-11-18 09:37:43,543 [WARNING] Cluster 67 has too few points (0).
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+ 2025-11-18 09:37:43,543 [WARNING] Cluster 68 has too few points (0).
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+ 2025-11-18 09:37:43,543 [WARNING] Cluster 69 has too few points (0).
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+ 2025-11-18 09:37:43,543 [WARNING] Cluster 70 has too few points (0).
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+ 2025-11-18 09:37:43,543 [WARNING] Cluster 71 has too few points (0).
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+ 2025-11-18 09:37:43,543 [WARNING] Cluster 72 has too few points (0).
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+ 2025-11-18 09:37:43,543 [WARNING] Cluster 73 has too few points (0).
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+ 2025-11-18 09:37:43,543 [WARNING] Cluster 74 has too few points (0).
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+ 2025-11-18 09:37:43,543 [WARNING] Cluster 75 has too few points (0).
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+ 2025-11-18 09:37:43,543 [WARNING] Cluster 76 has too few points (0).
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+ 2025-11-18 09:37:43,543 [WARNING] Cluster 77 has too few points (0).
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+ 2025-11-18 09:37:43,543 [WARNING] Cluster 78 has too few points (0).
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+ 2025-11-18 09:37:43,543 [WARNING] Cluster 79 has too few points (0).
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+ 2025-11-18 09:37:43,543 [WARNING] Cluster 80 has too few points (0).
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+ 2025-11-18 12:52:15,647 [WARNING] Warning!!!!:
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+ The number of actuators 81 must be equal to the number of generated labels 57. Probllem in configuration files
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+ 2025-11-18 12:52:15,780 [WARNING] Cluster 57 has too few points (0).
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+ 2025-11-18 12:52:15,780 [WARNING] Cluster 58 has too few points (0).
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+ 2025-11-18 12:52:15,780 [WARNING] Cluster 59 has too few points (0).
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+ 2025-11-18 12:52:15,780 [WARNING] Cluster 60 has too few points (0).
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+ 2025-11-18 12:52:15,780 [WARNING] Cluster 61 has too few points (0).
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+ 2025-11-18 12:52:15,780 [WARNING] Cluster 62 has too few points (0).
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+ 2025-11-18 12:52:15,780 [WARNING] Cluster 63 has too few points (0).
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+ 2025-11-18 12:52:15,780 [WARNING] Cluster 64 has too few points (0).
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+ 2025-11-18 12:52:15,780 [WARNING] Cluster 65 has too few points (0).
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+ 2025-11-18 12:52:15,780 [WARNING] Cluster 66 has too few points (0).
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+ 2025-11-18 12:52:15,780 [WARNING] Cluster 67 has too few points (0).
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+ 2025-11-18 12:52:15,780 [WARNING] Cluster 68 has too few points (0).
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+ 2025-11-18 12:52:15,780 [WARNING] Cluster 69 has too few points (0).
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+ 2025-11-18 12:52:15,780 [WARNING] Cluster 70 has too few points (0).
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+ 2025-11-18 12:52:15,780 [WARNING] Cluster 71 has too few points (0).
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+ 2025-11-18 12:52:15,780 [WARNING] Cluster 72 has too few points (0).
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+ 2025-11-18 12:52:15,780 [WARNING] Cluster 73 has too few points (0).
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+ 2025-11-18 12:52:15,780 [WARNING] Cluster 74 has too few points (0).
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+ 2025-11-18 12:52:15,780 [WARNING] Cluster 75 has too few points (0).
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+ 2025-11-18 12:52:15,780 [WARNING] Cluster 76 has too few points (0).
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+ 2025-11-18 12:52:15,780 [WARNING] Cluster 77 has too few points (0).
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+ 2025-11-18 12:52:15,780 [WARNING] Cluster 78 has too few points (0).
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+ 2025-11-18 12:52:15,780 [WARNING] Cluster 79 has too few points (0).
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+ 2025-11-18 12:52:15,780 [WARNING] Cluster 80 has too few points (0).
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+ 2025-11-18 13:00:35,933 [WARNING] Warning!!!!:
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+ The number of actuators 81 must be equal to the number of generated labels 57. Probllem in configuration files
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+ 2025-11-18 13:00:36,061 [WARNING] Cluster 57 has too few points (0).
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+ 2025-11-18 13:00:36,061 [WARNING] Cluster 58 has too few points (0).
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+ 2025-11-18 13:00:36,061 [WARNING] Cluster 59 has too few points (0).
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+ 2025-11-18 13:00:36,061 [WARNING] Cluster 60 has too few points (0).
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+ 2025-11-18 13:00:36,061 [WARNING] Cluster 61 has too few points (0).
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+ 2025-11-18 13:00:36,061 [WARNING] Cluster 62 has too few points (0).
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+ 2025-11-18 13:00:36,061 [WARNING] Cluster 63 has too few points (0).
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+ 2025-11-18 13:00:36,061 [WARNING] Cluster 64 has too few points (0).
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+ 2025-11-18 13:00:36,061 [WARNING] Cluster 65 has too few points (0).
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+ 2025-11-18 13:00:36,061 [WARNING] Cluster 66 has too few points (0).
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+ 2025-11-18 13:00:36,061 [WARNING] Cluster 67 has too few points (0).
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+ 2025-11-18 13:00:36,061 [WARNING] Cluster 68 has too few points (0).
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+ 2025-11-18 13:00:36,061 [WARNING] Cluster 69 has too few points (0).
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+ 2025-11-18 13:00:36,061 [WARNING] Cluster 70 has too few points (0).
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+ 2025-11-18 13:00:36,061 [WARNING] Cluster 71 has too few points (0).
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+ 2025-11-18 13:00:36,061 [WARNING] Cluster 72 has too few points (0).
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+ 2025-11-18 13:00:36,061 [WARNING] Cluster 73 has too few points (0).
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+ 2025-11-18 13:00:36,061 [WARNING] Cluster 74 has too few points (0).
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+ 2025-11-18 13:00:36,061 [WARNING] Cluster 75 has too few points (0).
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+ 2025-11-18 13:00:36,061 [WARNING] Cluster 76 has too few points (0).
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+ 2025-11-18 13:00:36,061 [WARNING] Cluster 77 has too few points (0).
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+ 2025-11-18 13:00:36,061 [WARNING] Cluster 78 has too few points (0).
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+ 2025-11-18 13:00:36,061 [WARNING] Cluster 79 has too few points (0).
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+ 2025-11-18 13:00:36,061 [WARNING] Cluster 80 has too few points (0).
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+ 2025-11-18 13:05:49,735 [WARNING] Warning!!!!:
288
+ The number of actuators 81 must be equal to the number of generated labels 57. Probllem in configuration files
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+ 2025-11-18 13:05:49,880 [WARNING] Cluster 57 has too few points (0).
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+ 2025-11-18 13:05:49,880 [WARNING] Cluster 58 has too few points (0).
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+ 2025-11-18 13:05:49,880 [WARNING] Cluster 59 has too few points (0).
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+ 2025-11-18 13:05:49,880 [WARNING] Cluster 60 has too few points (0).
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+ 2025-11-18 13:05:49,881 [WARNING] Cluster 61 has too few points (0).
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+ 2025-11-18 13:05:49,881 [WARNING] Cluster 62 has too few points (0).
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+ 2025-11-18 13:05:49,881 [WARNING] Cluster 63 has too few points (0).
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+ 2025-11-18 13:05:49,881 [WARNING] Cluster 64 has too few points (0).
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+ 2025-11-18 13:05:49,881 [WARNING] Cluster 65 has too few points (0).
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+ 2025-11-18 13:05:49,881 [WARNING] Cluster 66 has too few points (0).
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+ 2025-11-18 13:05:49,881 [WARNING] Cluster 67 has too few points (0).
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+ 2025-11-18 13:05:49,881 [WARNING] Cluster 68 has too few points (0).
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+ 2025-11-18 13:05:49,881 [WARNING] Cluster 69 has too few points (0).
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+ 2025-11-18 13:05:49,881 [WARNING] Cluster 70 has too few points (0).
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+ 2025-11-18 13:05:49,881 [WARNING] Cluster 71 has too few points (0).
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+ 2025-11-18 13:05:49,881 [WARNING] Cluster 72 has too few points (0).
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+ 2025-11-18 13:05:49,881 [WARNING] Cluster 73 has too few points (0).
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+ 2025-11-18 13:05:49,881 [WARNING] Cluster 74 has too few points (0).
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+ 2025-11-18 13:05:49,881 [WARNING] Cluster 75 has too few points (0).
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+ 2025-11-18 13:05:49,881 [WARNING] Cluster 76 has too few points (0).
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+ 2025-11-18 13:05:49,881 [WARNING] Cluster 77 has too few points (0).
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+ 2025-11-18 13:05:49,881 [WARNING] Cluster 78 has too few points (0).
311
+ 2025-11-18 13:05:49,881 [WARNING] Cluster 79 has too few points (0).
312
+ 2025-11-18 13:05:49,881 [WARNING] Cluster 80 has too few points (0).
313
+ 2025-11-18 13:11:06,448 [WARNING] Warning!!!!:
314
+ The number of actuators 81 must be equal to the number of generated labels 57. Probllem in configuration files
315
+ 2025-11-18 13:11:06,604 [WARNING] Cluster 57 has too few points (0).
316
+ 2025-11-18 13:11:06,604 [WARNING] Cluster 58 has too few points (0).
317
+ 2025-11-18 13:11:06,604 [WARNING] Cluster 59 has too few points (0).
318
+ 2025-11-18 13:11:06,604 [WARNING] Cluster 60 has too few points (0).
319
+ 2025-11-18 13:11:06,604 [WARNING] Cluster 61 has too few points (0).
320
+ 2025-11-18 13:11:06,604 [WARNING] Cluster 62 has too few points (0).
321
+ 2025-11-18 13:11:06,605 [WARNING] Cluster 63 has too few points (0).
322
+ 2025-11-18 13:11:06,605 [WARNING] Cluster 64 has too few points (0).
323
+ 2025-11-18 13:11:06,605 [WARNING] Cluster 65 has too few points (0).
324
+ 2025-11-18 13:11:06,605 [WARNING] Cluster 66 has too few points (0).
325
+ 2025-11-18 13:11:06,605 [WARNING] Cluster 67 has too few points (0).
326
+ 2025-11-18 13:11:06,605 [WARNING] Cluster 68 has too few points (0).
327
+ 2025-11-18 13:11:06,605 [WARNING] Cluster 69 has too few points (0).
328
+ 2025-11-18 13:11:06,605 [WARNING] Cluster 70 has too few points (0).
329
+ 2025-11-18 13:11:06,605 [WARNING] Cluster 71 has too few points (0).
330
+ 2025-11-18 13:11:06,605 [WARNING] Cluster 72 has too few points (0).
331
+ 2025-11-18 13:11:06,605 [WARNING] Cluster 73 has too few points (0).
332
+ 2025-11-18 13:11:06,605 [WARNING] Cluster 74 has too few points (0).
333
+ 2025-11-18 13:11:06,605 [WARNING] Cluster 75 has too few points (0).
334
+ 2025-11-18 13:11:06,605 [WARNING] Cluster 76 has too few points (0).
335
+ 2025-11-18 13:11:06,605 [WARNING] Cluster 77 has too few points (0).
336
+ 2025-11-18 13:11:06,605 [WARNING] Cluster 78 has too few points (0).
337
+ 2025-11-18 13:11:06,605 [WARNING] Cluster 79 has too few points (0).
338
+ 2025-11-18 13:11:06,605 [WARNING] Cluster 80 has too few points (0).
339
+ 2025-11-18 13:16:36,597 [WARNING] Warning!!!!:
340
+ The number of actuators 81 must be equal to the number of generated labels 57. Probllem in configuration files
341
+ 2025-11-18 13:16:36,721 [WARNING] Cluster 57 has too few points (0).
342
+ 2025-11-18 13:16:36,721 [WARNING] Cluster 58 has too few points (0).
343
+ 2025-11-18 13:16:36,721 [WARNING] Cluster 59 has too few points (0).
344
+ 2025-11-18 13:16:36,721 [WARNING] Cluster 60 has too few points (0).
345
+ 2025-11-18 13:16:36,721 [WARNING] Cluster 61 has too few points (0).
346
+ 2025-11-18 13:16:36,721 [WARNING] Cluster 62 has too few points (0).
347
+ 2025-11-18 13:16:36,722 [WARNING] Cluster 63 has too few points (0).
348
+ 2025-11-18 13:16:36,722 [WARNING] Cluster 64 has too few points (0).
349
+ 2025-11-18 13:16:36,722 [WARNING] Cluster 65 has too few points (0).
350
+ 2025-11-18 13:16:36,722 [WARNING] Cluster 66 has too few points (0).
351
+ 2025-11-18 13:16:36,722 [WARNING] Cluster 67 has too few points (0).
352
+ 2025-11-18 13:16:36,722 [WARNING] Cluster 68 has too few points (0).
353
+ 2025-11-18 13:16:36,722 [WARNING] Cluster 69 has too few points (0).
354
+ 2025-11-18 13:16:36,722 [WARNING] Cluster 70 has too few points (0).
355
+ 2025-11-18 13:16:36,722 [WARNING] Cluster 71 has too few points (0).
356
+ 2025-11-18 13:16:36,722 [WARNING] Cluster 72 has too few points (0).
357
+ 2025-11-18 13:16:36,722 [WARNING] Cluster 73 has too few points (0).
358
+ 2025-11-18 13:16:36,722 [WARNING] Cluster 74 has too few points (0).
359
+ 2025-11-18 13:16:36,722 [WARNING] Cluster 75 has too few points (0).
360
+ 2025-11-18 13:16:36,722 [WARNING] Cluster 76 has too few points (0).
361
+ 2025-11-18 13:16:36,722 [WARNING] Cluster 77 has too few points (0).
362
+ 2025-11-18 13:16:36,722 [WARNING] Cluster 78 has too few points (0).
363
+ 2025-11-18 13:16:36,722 [WARNING] Cluster 79 has too few points (0).
364
+ 2025-11-18 13:16:36,722 [WARNING] Cluster 80 has too few points (0).
365
+ 2025-11-18 13:21:07,732 [WARNING] Warning!!!!:
366
+ The number of actuators 81 must be equal to the number of generated labels 57. Probllem in configuration files
367
+ 2025-11-18 13:21:07,863 [WARNING] Cluster 57 has too few points (0).
368
+ 2025-11-18 13:21:07,863 [WARNING] Cluster 58 has too few points (0).
369
+ 2025-11-18 13:21:07,863 [WARNING] Cluster 59 has too few points (0).
370
+ 2025-11-18 13:21:07,863 [WARNING] Cluster 60 has too few points (0).
371
+ 2025-11-18 13:21:07,864 [WARNING] Cluster 61 has too few points (0).
372
+ 2025-11-18 13:21:07,864 [WARNING] Cluster 62 has too few points (0).
373
+ 2025-11-18 13:21:07,864 [WARNING] Cluster 63 has too few points (0).
374
+ 2025-11-18 13:21:07,864 [WARNING] Cluster 64 has too few points (0).
375
+ 2025-11-18 13:21:07,864 [WARNING] Cluster 65 has too few points (0).
376
+ 2025-11-18 13:21:07,864 [WARNING] Cluster 66 has too few points (0).
377
+ 2025-11-18 13:21:07,864 [WARNING] Cluster 67 has too few points (0).
378
+ 2025-11-18 13:21:07,864 [WARNING] Cluster 68 has too few points (0).
379
+ 2025-11-18 13:21:07,864 [WARNING] Cluster 69 has too few points (0).
380
+ 2025-11-18 13:21:07,864 [WARNING] Cluster 70 has too few points (0).
381
+ 2025-11-18 13:21:07,864 [WARNING] Cluster 71 has too few points (0).
382
+ 2025-11-18 13:21:07,864 [WARNING] Cluster 72 has too few points (0).
383
+ 2025-11-18 13:21:07,864 [WARNING] Cluster 73 has too few points (0).
384
+ 2025-11-18 13:21:07,864 [WARNING] Cluster 74 has too few points (0).
385
+ 2025-11-18 13:21:07,864 [WARNING] Cluster 75 has too few points (0).
386
+ 2025-11-18 13:21:07,864 [WARNING] Cluster 76 has too few points (0).
387
+ 2025-11-18 13:21:07,864 [WARNING] Cluster 77 has too few points (0).
388
+ 2025-11-18 13:21:07,864 [WARNING] Cluster 78 has too few points (0).
389
+ 2025-11-18 13:21:07,864 [WARNING] Cluster 79 has too few points (0).
390
+ 2025-11-18 13:21:07,864 [WARNING] Cluster 80 has too few points (0).
391
+ 2025-11-18 13:26:09,807 [WARNING] Warning!!!!:
392
+ The number of actuators 81 must be equal to the number of generated labels 57. Probllem in configuration files
393
+ 2025-11-18 13:26:09,963 [WARNING] Cluster 57 has too few points (0).
394
+ 2025-11-18 13:26:09,963 [WARNING] Cluster 58 has too few points (0).
395
+ 2025-11-18 13:26:09,963 [WARNING] Cluster 59 has too few points (0).
396
+ 2025-11-18 13:26:09,964 [WARNING] Cluster 60 has too few points (0).
397
+ 2025-11-18 13:26:09,964 [WARNING] Cluster 61 has too few points (0).
398
+ 2025-11-18 13:26:09,964 [WARNING] Cluster 62 has too few points (0).
399
+ 2025-11-18 13:26:09,964 [WARNING] Cluster 63 has too few points (0).
400
+ 2025-11-18 13:26:09,964 [WARNING] Cluster 64 has too few points (0).
401
+ 2025-11-18 13:26:09,964 [WARNING] Cluster 65 has too few points (0).
402
+ 2025-11-18 13:26:09,964 [WARNING] Cluster 66 has too few points (0).
403
+ 2025-11-18 13:26:09,964 [WARNING] Cluster 67 has too few points (0).
404
+ 2025-11-18 13:26:09,964 [WARNING] Cluster 68 has too few points (0).
405
+ 2025-11-18 13:26:09,964 [WARNING] Cluster 69 has too few points (0).
406
+ 2025-11-18 13:26:09,964 [WARNING] Cluster 70 has too few points (0).
407
+ 2025-11-18 13:26:09,964 [WARNING] Cluster 71 has too few points (0).
408
+ 2025-11-18 13:26:09,964 [WARNING] Cluster 72 has too few points (0).
409
+ 2025-11-18 13:26:09,964 [WARNING] Cluster 73 has too few points (0).
410
+ 2025-11-18 13:26:09,964 [WARNING] Cluster 74 has too few points (0).
411
+ 2025-11-18 13:26:09,964 [WARNING] Cluster 75 has too few points (0).
412
+ 2025-11-18 13:26:09,964 [WARNING] Cluster 76 has too few points (0).
413
+ 2025-11-18 13:26:09,964 [WARNING] Cluster 77 has too few points (0).
414
+ 2025-11-18 13:26:09,964 [WARNING] Cluster 78 has too few points (0).
415
+ 2025-11-18 13:26:09,964 [WARNING] Cluster 79 has too few points (0).
416
+ 2025-11-18 13:26:09,964 [WARNING] Cluster 80 has too few points (0).
417
+ 2025-11-18 13:31:51,443 [WARNING] Warning!!!!:
418
+ The number of actuators 81 must be equal to the number of generated labels 57. Probllem in configuration files
419
+ 2025-11-18 13:31:51,583 [WARNING] Cluster 57 has too few points (0).
420
+ 2025-11-18 13:31:51,583 [WARNING] Cluster 58 has too few points (0).
421
+ 2025-11-18 13:31:51,583 [WARNING] Cluster 59 has too few points (0).
422
+ 2025-11-18 13:31:51,583 [WARNING] Cluster 60 has too few points (0).
423
+ 2025-11-18 13:31:51,583 [WARNING] Cluster 61 has too few points (0).
424
+ 2025-11-18 13:31:51,583 [WARNING] Cluster 62 has too few points (0).
425
+ 2025-11-18 13:31:51,583 [WARNING] Cluster 63 has too few points (0).
426
+ 2025-11-18 13:31:51,583 [WARNING] Cluster 64 has too few points (0).
427
+ 2025-11-18 13:31:51,583 [WARNING] Cluster 65 has too few points (0).
428
+ 2025-11-18 13:31:51,583 [WARNING] Cluster 66 has too few points (0).
429
+ 2025-11-18 13:31:51,583 [WARNING] Cluster 67 has too few points (0).
430
+ 2025-11-18 13:31:51,584 [WARNING] Cluster 68 has too few points (0).
431
+ 2025-11-18 13:31:51,584 [WARNING] Cluster 69 has too few points (0).
432
+ 2025-11-18 13:31:51,584 [WARNING] Cluster 70 has too few points (0).
433
+ 2025-11-18 13:31:51,584 [WARNING] Cluster 71 has too few points (0).
434
+ 2025-11-18 13:31:51,584 [WARNING] Cluster 72 has too few points (0).
435
+ 2025-11-18 13:31:51,584 [WARNING] Cluster 73 has too few points (0).
436
+ 2025-11-18 13:31:51,584 [WARNING] Cluster 74 has too few points (0).
437
+ 2025-11-18 13:31:51,584 [WARNING] Cluster 75 has too few points (0).
438
+ 2025-11-18 13:31:51,584 [WARNING] Cluster 76 has too few points (0).
439
+ 2025-11-18 13:31:51,584 [WARNING] Cluster 77 has too few points (0).
440
+ 2025-11-18 13:31:51,584 [WARNING] Cluster 78 has too few points (0).
441
+ 2025-11-18 13:31:51,584 [WARNING] Cluster 79 has too few points (0).
442
+ 2025-11-18 13:31:51,584 [WARNING] Cluster 80 has too few points (0).
443
+ 2025-11-18 13:37:10,909 [WARNING] Warning!!!!:
444
+ The number of actuators 81 must be equal to the number of generated labels 57. Probllem in configuration files
445
+ 2025-11-18 13:37:11,051 [WARNING] Cluster 57 has too few points (0).
446
+ 2025-11-18 13:37:11,051 [WARNING] Cluster 58 has too few points (0).
447
+ 2025-11-18 13:37:11,051 [WARNING] Cluster 59 has too few points (0).
448
+ 2025-11-18 13:37:11,051 [WARNING] Cluster 60 has too few points (0).
449
+ 2025-11-18 13:37:11,051 [WARNING] Cluster 61 has too few points (0).
450
+ 2025-11-18 13:37:11,051 [WARNING] Cluster 62 has too few points (0).
451
+ 2025-11-18 13:37:11,051 [WARNING] Cluster 63 has too few points (0).
452
+ 2025-11-18 13:37:11,051 [WARNING] Cluster 64 has too few points (0).
453
+ 2025-11-18 13:37:11,051 [WARNING] Cluster 65 has too few points (0).
454
+ 2025-11-18 13:37:11,051 [WARNING] Cluster 66 has too few points (0).
455
+ 2025-11-18 13:37:11,051 [WARNING] Cluster 67 has too few points (0).
456
+ 2025-11-18 13:37:11,051 [WARNING] Cluster 68 has too few points (0).
457
+ 2025-11-18 13:37:11,051 [WARNING] Cluster 69 has too few points (0).
458
+ 2025-11-18 13:37:11,051 [WARNING] Cluster 70 has too few points (0).
459
+ 2025-11-18 13:37:11,051 [WARNING] Cluster 71 has too few points (0).
460
+ 2025-11-18 13:37:11,051 [WARNING] Cluster 72 has too few points (0).
461
+ 2025-11-18 13:37:11,051 [WARNING] Cluster 73 has too few points (0).
462
+ 2025-11-18 13:37:11,051 [WARNING] Cluster 74 has too few points (0).
463
+ 2025-11-18 13:37:11,051 [WARNING] Cluster 75 has too few points (0).
464
+ 2025-11-18 13:37:11,052 [WARNING] Cluster 76 has too few points (0).
465
+ 2025-11-18 13:37:11,052 [WARNING] Cluster 77 has too few points (0).
466
+ 2025-11-18 13:37:11,052 [WARNING] Cluster 78 has too few points (0).
467
+ 2025-11-18 13:37:11,052 [WARNING] Cluster 79 has too few points (0).
468
+ 2025-11-18 13:37:11,052 [WARNING] Cluster 80 has too few points (0).
topdown_suction_orientation_loss/benchmark/gripping_a_5_HTP_a_0.5_-0.5_-0.5_0.5_a_0.5/ckpt/args.json CHANGED
@@ -157,7 +157,7 @@
157
  "optimize_designer": true,
158
  "out_dir": "./logs/topdown_suction_orientation_loss/benchmark/gripping_a_5_HTP_a_0.5_-0.5_-0.5_0.5_a_0.5",
159
  "recenter_mesh_target": false,
160
- "render_every_iter": 1,
161
  "rotation_up_direction": [
162
  0.0,
163
  1.0,
@@ -165,7 +165,7 @@
165
  ],
166
  "save_controller": false,
167
  "save_designer": false,
168
- "save_every_iter": 1,
169
  "sdf_basis_actuator_mul": 1.0,
170
  "sdf_basis_coefs_activation": "linear",
171
  "sdf_basis_init_coefs_actuator": null,
 
157
  "optimize_designer": true,
158
  "out_dir": "./logs/topdown_suction_orientation_loss/benchmark/gripping_a_5_HTP_a_0.5_-0.5_-0.5_0.5_a_0.5",
159
  "recenter_mesh_target": false,
160
+ "render_every_iter": 2001,
161
  "rotation_up_direction": [
162
  0.0,
163
  1.0,
 
165
  ],
166
  "save_controller": false,
167
  "save_designer": false,
168
+ "save_every_iter": 2001,
169
  "sdf_basis_actuator_mul": 1.0,
170
  "sdf_basis_coefs_activation": "linear",
171
  "sdf_basis_init_coefs_actuator": null,
topdown_suction_orientation_loss/benchmark/gripping_a_5_HTP_a_0.5_-0.5_-0.5_0.5_a_0.5/gripping_result_id0.json CHANGED
@@ -1 +1 @@
1
- {"reward": 0.011461645376453583, "design_loss": 0.0, "all_loss": 0.6536722165798066}
 
1
+ {"reward": 0.14680185867717388, "design_loss": 0.0, "all_loss": 0.19788803161311508}
topdown_suction_orientation_loss/benchmark/gripping_a_5_HTP_a_0.5_-0.5_-0.5_0.5_a_0.5/gripping_result_id1.json CHANGED
@@ -1 +1 @@
1
- {"reward": -0.002735354896690967, "design_loss": 3.6306680613051867e-06, "all_loss": 0.2932641860504419}
 
1
+ {"reward": 0.14158263475030347, "design_loss": 0.0, "all_loss": 0.2495237548606888}
topdown_suction_orientation_loss/benchmark/gripping_a_5_HTP_a_0.5_-0.5_-0.5_0.5_a_0.5/gripping_result_id10.json ADDED
@@ -0,0 +1 @@
 
 
1
+ {"reward": 0.14605763122706336, "design_loss": 0.0, "all_loss": 0.17072832696700374}
topdown_suction_orientation_loss/benchmark/gripping_a_5_HTP_a_0.5_-0.5_-0.5_0.5_a_0.5/gripping_result_id100.json ADDED
@@ -0,0 +1 @@
 
 
1
+ {"reward": 0.14319123104335485, "design_loss": 3.5384710717067946e-09, "all_loss": 0.3164767364635666}
topdown_suction_orientation_loss/benchmark/gripping_a_5_HTP_a_0.5_-0.5_-0.5_0.5_a_0.5/gripping_result_id1000.json ADDED
@@ -0,0 +1 @@
 
 
1
+ {"reward": 0.1551565486754747, "design_loss": 0.0, "all_loss": 0.23054436347784218}
topdown_suction_orientation_loss/benchmark/gripping_a_5_HTP_a_0.5_-0.5_-0.5_0.5_a_0.5/gripping_result_id1001.json ADDED
@@ -0,0 +1 @@
 
 
1
+ {"reward": 0.16313935195671944, "design_loss": 1.0477779142092913e-06, "all_loss": 0.3317131191608939}
topdown_suction_orientation_loss/benchmark/gripping_a_5_HTP_a_0.5_-0.5_-0.5_0.5_a_0.5/gripping_result_id1002.json ADDED
@@ -0,0 +1 @@
 
 
1
+ {"reward": 0.1539140909850939, "design_loss": 2.3839203944220344e-09, "all_loss": 0.3434823973394609}
topdown_suction_orientation_loss/benchmark/gripping_a_5_HTP_a_0.5_-0.5_-0.5_0.5_a_0.5/gripping_result_id1003.json ADDED
@@ -0,0 +1 @@
 
 
1
+ {"reward": 0.1517645415872055, "design_loss": 3.484733168690468e-09, "all_loss": 0.20570253950178982}
topdown_suction_orientation_loss/benchmark/gripping_a_5_HTP_a_0.5_-0.5_-0.5_0.5_a_0.5/gripping_result_id1004.json ADDED
@@ -0,0 +1 @@
 
 
1
+ {"reward": 0.16183516730071687, "design_loss": 0.0, "all_loss": 0.22883499104275556}
topdown_suction_orientation_loss/benchmark/gripping_a_5_HTP_a_0.5_-0.5_-0.5_0.5_a_0.5/gripping_result_id1005.json ADDED
@@ -0,0 +1 @@
 
 
1
+ {"reward": 0.16916448607219342, "design_loss": 0.0, "all_loss": 0.23624284391817274}
topdown_suction_orientation_loss/benchmark/gripping_a_5_HTP_a_0.5_-0.5_-0.5_0.5_a_0.5/gripping_result_id1006.json ADDED
@@ -0,0 +1 @@
 
 
1
+ {"reward": 0.17433366366463082, "design_loss": 0.0, "all_loss": 0.04599301392286243}
topdown_suction_orientation_loss/benchmark/gripping_a_5_HTP_a_0.5_-0.5_-0.5_0.5_a_0.5/gripping_result_id1007.json ADDED
@@ -0,0 +1 @@
 
 
1
+ {"reward": 0.14950161484697927, "design_loss": 2.4548557121306658e-05, "all_loss": 0.4354755301525662}
topdown_suction_orientation_loss/benchmark/gripping_a_5_HTP_a_0.5_-0.5_-0.5_0.5_a_0.5/gripping_result_id1008.json ADDED
@@ -0,0 +1 @@
 
 
1
+ {"reward": 0.15743403960106278, "design_loss": 1.2642638466786593e-05, "all_loss": 0.4614231219086349}
topdown_suction_orientation_loss/benchmark/gripping_a_5_HTP_a_0.5_-0.5_-0.5_0.5_a_0.5/gripping_result_id1009.json ADDED
@@ -0,0 +1 @@
 
 
1
+ {"reward": 0.0011672089531715862, "design_loss": 3.226465139505308e-07, "all_loss": 0.5137595797968719}
topdown_suction_orientation_loss/benchmark/gripping_a_5_HTP_a_0.5_-0.5_-0.5_0.5_a_0.5/gripping_result_id101.json ADDED
@@ -0,0 +1 @@
 
 
1
+ {"reward": 0.14425988737056358, "design_loss": 0.0, "all_loss": 0.17614893889954378}
topdown_suction_orientation_loss/benchmark/gripping_a_5_HTP_a_0.5_-0.5_-0.5_0.5_a_0.5/gripping_result_id1010.json ADDED
@@ -0,0 +1 @@
 
 
1
+ {"reward": 0.14425168263839727, "design_loss": 0.0, "all_loss": 0.5382621053018188}
topdown_suction_orientation_loss/benchmark/gripping_a_5_HTP_a_0.5_-0.5_-0.5_0.5_a_0.5/gripping_result_id1011.json ADDED
@@ -0,0 +1 @@
 
 
1
+ {"reward": 0.16322016342096926, "design_loss": 7.529755748691969e-06, "all_loss": 0.2220260869023652}
topdown_suction_orientation_loss/benchmark/gripping_a_5_HTP_a_0.5_-0.5_-0.5_0.5_a_0.5/gripping_result_id1012.json ADDED
@@ -0,0 +1 @@
 
 
1
+ {"reward": -0.0019310005620198911, "design_loss": 2.1988528260408202e-06, "all_loss": 0.6329027822586206}
topdown_suction_orientation_loss/benchmark/gripping_a_5_HTP_a_0.5_-0.5_-0.5_0.5_a_0.5/gripping_result_id1013.json ADDED
@@ -0,0 +1 @@
 
 
1
+ {"reward": 0.05797170839127888, "design_loss": 1.3437801094084989e-08, "all_loss": 0.583824540473693}
topdown_suction_orientation_loss/benchmark/gripping_a_5_HTP_a_0.5_-0.5_-0.5_0.5_a_0.5/gripping_result_id1014.json ADDED
@@ -0,0 +1 @@
 
 
1
+ {"reward": 0.1482854853901146, "design_loss": 0.0, "all_loss": 0.35899879197781986}
topdown_suction_orientation_loss/benchmark/gripping_a_5_HTP_a_0.5_-0.5_-0.5_0.5_a_0.5/gripping_result_id1015.json ADDED
@@ -0,0 +1 @@
 
 
1
+ {"reward": 0.16012456404998898, "design_loss": 2.00741251319414e-05, "all_loss": 0.05270369511482566}
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