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debug_benchmark_topdown_downscaled_roll_scaledup_strength/benchmark/gripping_a_5_HTP_a_0.4999999999999999_-0.5_-0.5_0.5000000000000001_a_0.4/ckpt/args.json

@@ -0,0 +1,212 @@
+{
+    "action_space": "actuation",
+    "action_v_strength": 0.35,
+    "active": true,
+    "actuation_activation": "linear",
+    "actuation_omega": [
+        30.0
+    ],
+    "annotated_pcd_n_voxels": 60,
+    "annotated_pcd_passive_geometry_mul": 0.5,
+    "annotated_pcd_passive_softness_mul": 10,
+    "annotated_pcd_path": null,
+    "closed_loop_actuation_omega": [
+        30.0
+    ],
+    "closed_loop_n_sin_waves": 4,
+    "closed_loop_sinwave_activation": "Tanh",
+    "closed_loop_sinwave_hidden_filters": [
+        32,
+        32
+    ],
+    "closed_loop_sinwave_obs_names": [
+        "com",
+        "objective"
+    ],
+    "controller_lr": 0.003,
+    "controller_mlp_activation": "Tanh",
+    "controller_mlp_final_activation": null,
+    "controller_mlp_hidden_filters": [
+        32,
+        32
+    ],
+    "controller_obs_names": [
+        "com",
+        "objective"
+    ],
+    "controller_type": "all_on",
+    "cppn_activation_options": [
+        "sin",
+        "sigmoid"
+    ],
+    "cppn_activation_repeat": 10,
+    "cppn_coord_input_names": [
+        "x",
+        "y",
+        "z",
+        "d_xy",
+        "d_yz",
+        "d_xz",
+        "d_xyz"
+    ],
+    "cppn_n_hiddens": 3,
+    "cppn_seed_meshes": [],
+    "custom_gravity": false,
+    "design_device": "cpu",
+    "designer_geometry_offset": 0.5,
+    "designer_lr": 0.1,
+    "designer_softness_offset": 0.5,
+    "designer_type": "mlp",
+    "device_memory_fraction": 0.65,
+    "dump_rendering_data": false,
+    "env": "land_environment",
+    "env_config_file": "gripping_a_5_HTP_a_0.4999999999999999_-0.5_-0.5_0.5000000000000001_a_0.4.yaml",
+    "eval": false,
+    "final_target_idx": null,
+    "fixed_v": "gripping_5_HTP.json",
+    "gen_pointe_bounding_box": {
+        "max": [
+            1.05,
+            0.1,
+            1.05
+        ],
+        "min": [
+            -1.05,
+            -3.0,
+            -1.05
+        ]
+    },
+    "goal": [
+        0.8,
+        0.0,
+        0.0,
+        1700
+    ],
+    "load_args": null,
+    "load_controller": null,
+    "load_designer": null,
+    "load_rl_controller": null,
+    "log_every_iter": 1,
+    "log_reward": false,
+    "loss_coefs": [
+        1.0,
+        1.0
+    ],
+    "loss_landscape_vbr_grid_index": [
+        0,
+        0,
+        0
+    ],
+    "loss_landscape_vbr_n_trials": 10,
+    "loss_landscape_vbr_trial_type": "geometry",
+    "loss_landscape_vbr_value_range": [
+        0.0,
+        1.0
+    ],
+    "loss_types": [
+        "ObjectBalancedLoss",
+        "ContactLoss"
+    ],
+    "mesh_dir": "./local/meshes/fantasy_horse",
+    "mesh_num_points": 5000,
+    "mlp_activation": "Tanh",
+    "mlp_coord_input_names": [
+        "x",
+        "y",
+        "z",
+        "d_xy",
+        "d_yz",
+        "d_xz",
+        "d_xyz"
+    ],
+    "mlp_filters": [
+        32,
+        32
+    ],
+    "mlp_seed_meshes": [],
+    "n_frames": 75,
+    "n_iters": 301,
+    "n_sin_waves": 4,
+    "non_taichi_device": "torch_cpu",
+    "num_fingers": 2,
+    "obj_initial_pos": [
+        0,
+        0,
+        0
+    ],
+    "obj_particle_id": 2,
+    "obj_v_mul": [
+        1.0,
+        0.0,
+        0.0
+    ],
+    "obj_x_mul": [
+        0.0,
+        1.0,
+        0.0
+    ],
+    "objective_reward_mode": null,
+    "optimize_controller": true,
+    "optimize_design_types": [
+        "geometry",
+        "softness"
+    ],
+    "optimize_designer": true,
+    "out_dir": "./logs/debug_benchmark_topdown_downscaled_roll_scaledup_strength/benchmark/gripping_a_5_HTP_a_0.4999999999999999_-0.5_-0.5_0.5000000000000001_a_0.4",
+    "recenter_mesh_target": false,
+    "render_every_iter": 101,
+    "rotation_up_direction": [
+        0.0,
+        1.0,
+        0.0
+    ],
+    "save_controller": false,
+    "save_designer": false,
+    "save_every_iter": 101,
+    "sdf_basis_actuator_mul": 1.0,
+    "sdf_basis_coefs_activation": "linear",
+    "sdf_basis_init_coefs_actuator": null,
+    "sdf_basis_init_coefs_actuator_direction": null,
+    "sdf_basis_init_coefs_geometry": null,
+    "sdf_basis_init_coefs_softness": null,
+    "sdf_basis_mesh_paths": [],
+    "sdf_basis_n_voxels": 60,
+    "sdf_basis_passive_geometry_mul": 0.5,
+    "sdf_basis_passive_softness_mul": 10,
+    "sdf_basis_pcd_paths": [],
+    "sdf_basis_use_global_coefs": false,
+    "seed": 310,
+    "set_design_types": [
+        "geometry",
+        "softness",
+        "actuator",
+        "actuator_direction",
+        "is_passive_fixed"
+    ],
+    "sin_omega_mul": 10.0,
+    "static_as_fixed": true,
+    "substep_freq": 100,
+    "surface_threshold": 0.02,
+    "torch_seed": 310,
+    "v_following_mode": 0,
+    "v_following_v_mul": [
+        1.0,
+        1.0,
+        1.0
+    ],
+    "v_mul": [
+        1.0,
+        0.0,
+        0.0
+    ],
+    "wass_barycenter_init_coefs_actuator": null,
+    "wass_barycenter_init_coefs_geometry": null,
+    "wass_barycenter_init_coefs_softness": null,
+    "wass_barycenter_passive_geometry_mul": 0.5,
+    "wass_barycenter_passive_softness_mul": 10,
+    "x_mul": [
+        1.0,
+        0.0,
+        0.0
+    ]
+}

debug_benchmark_topdown_downscaled_roll_scaledup_strength/benchmark/gripping_a_5_HTP_a_0.4999999999999999_-0.5_-0.5_0.5000000000000001_a_0.4/ckpt/env_config.yaml

@@ -0,0 +1,133 @@
+ENVIRONMENT:
+  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:
+    - 0.4999999999999999
+    - -0.5
+    - -0.5
+    - 0.5000000000000001
+    initial_velocity:
+    - 0.0
+    - 0.0
+    - 0.0
+    material: FakeRigid
+    particle_id: 2
+    sample_density: 16
+    scale:
+    - 0.4
+    - 0.4
+    - 0.4
+    semantic_id: 2
+    type: Primitive.Mesh
+  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: 10000.0
+        p_rho_0: 1000.0
+      sample_density: 32
+      semantic_id: 3
+      size:
+      - 0.1
+      - 0.1
+      - 0.1
+      type: Primitive.Box
+    initial_principle_direction:
+    - 1.0
+    - 0.0
+    - 0.0
+    n_actuators: 81
+    p_rho_lower_bound_mul: 0.1
+  objective: throw_object
+  objective_config:
+    forward_direction:
+    - 0.0
+    - 1.0
+    - 0.0
+    max_episode_steps: 75
+    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: 0.0005
+  dim: 3
+  gravity:
+  - 0.0
+  - -3.8
+  - 0.0
+  max_actuation: 81
+  max_num_particles: 100000
+  max_substeps: 7000
+  max_substeps_local: 20
+  needs_grad: true
+  padding:
+  - 28
+  - 3
+  - 28
+  quality: 1.0
+  use_checkpointing: true
+  use_dynamic_field: false

debug_benchmark_topdown_downscaled_roll_scaledup_strength/benchmark/gripping_a_5_HTP_a_0.4999999999999999_-0.5_-0.5_0.5000000000000001_a_0.4/gripping_result_id0.json

@@ -0,0 +1 @@
+{"reward": 0.00282004320601785, "design_loss": 2.9017584779467143e-07, "all_loss": 0.11623231250583523}

debug_benchmark_topdown_downscaled_roll_scaledup_strength/benchmark/gripping_a_5_HTP_a_0.4999999999999999_-0.5_-0.5_0.5000000000000001_a_0.4/gripping_result_id1.json

@@ -0,0 +1 @@
+{"reward": 0.06265392058520641, "design_loss": 4.0731214539846405e-05, "all_loss": 0.07563629964507602}

debug_benchmark_topdown_downscaled_roll_scaledup_strength/benchmark/gripping_a_5_HTP_a_0.4999999999999999_-0.5_-0.5_0.5000000000000001_a_0.4/gripping_result_id10.json

@@ -0,0 +1 @@
+{"reward": -0.002625563131309211, "design_loss": 1.1865741278427322e-08, "all_loss": 0.11950780997036808}

debug_benchmark_topdown_downscaled_roll_scaledup_strength/benchmark/gripping_a_5_HTP_a_0.4999999999999999_-0.5_-0.5_0.5000000000000001_a_0.4/gripping_result_id11.json

@@ -0,0 +1 @@
+{"reward": 0.0014619742377260242, "design_loss": 0.0, "all_loss": 0.11295002159552399}

debug_benchmark_topdown_downscaled_roll_scaledup_strength/benchmark/gripping_a_5_HTP_a_0.4999999999999999_-0.5_-0.5_0.5000000000000001_a_0.4/gripping_result_id12.json

@@ -0,0 +1 @@
+{"reward": 0.006081147071877624, "design_loss": 1.6873675122042187e-05, "all_loss": 0.11305593418896374}

debug_benchmark_topdown_downscaled_roll_scaledup_strength/benchmark/gripping_a_5_HTP_a_0.4999999999999999_-0.5_-0.5_0.5000000000000001_a_0.4/gripping_result_id13.json

@@ -0,0 +1 @@
+{"reward": 0.005375969515076864, "design_loss": 3.445756374276243e-05, "all_loss": 0.10668765531922407}

debug_benchmark_topdown_downscaled_roll_scaledup_strength/benchmark/gripping_a_5_HTP_a_0.4999999999999999_-0.5_-0.5_0.5000000000000001_a_0.4/gripping_result_id14.json

@@ -0,0 +1 @@
+{"reward": -0.0027073359884939585, "design_loss": 5.955885353614576e-05, "all_loss": 0.12271989803277193}

debug_benchmark_topdown_downscaled_roll_scaledup_strength/benchmark/gripping_a_5_HTP_a_0.4999999999999999_-0.5_-0.5_0.5000000000000001_a_0.4/gripping_result_id15.json

@@ -0,0 +1 @@
+{"reward": 0.0050090551477881134, "design_loss": 0.00011571327922865748, "all_loss": 0.11484159171658882}

debug_benchmark_topdown_downscaled_roll_scaledup_strength/benchmark/gripping_a_5_HTP_a_0.4999999999999999_-0.5_-0.5_0.5000000000000001_a_0.4/gripping_result_id16.json

@@ -0,0 +1 @@
+{"reward": 0.006320926701342475, "design_loss": 4.0365539462072775e-05, "all_loss": 0.11268977377896512}

debug_benchmark_topdown_downscaled_roll_scaledup_strength/benchmark/gripping_a_5_HTP_a_0.4999999999999999_-0.5_-0.5_0.5000000000000001_a_0.4/gripping_result_id17.json

@@ -0,0 +1 @@
+{"reward": 7.476356202291978e-05, "design_loss": 1.96789687834098e-06, "all_loss": 0.11620178467697562}

debug_benchmark_topdown_downscaled_roll_scaledup_strength/benchmark/gripping_a_5_HTP_a_0.4999999999999999_-0.5_-0.5_0.5000000000000001_a_0.4/gripping_result_id18.json

@@ -0,0 +1 @@
+{"reward": -0.000844265765774288, "design_loss": 0.0, "all_loss": 0.11950458842401669}

debug_benchmark_topdown_downscaled_roll_scaledup_strength/benchmark/gripping_a_5_HTP_a_0.4999999999999999_-0.5_-0.5_0.5000000000000001_a_0.4/gripping_result_id19.json

@@ -0,0 +1 @@
+{"reward": -0.00028852271047082045, "design_loss": 6.070051676942967e-05, "all_loss": 0.12088268231640219}

debug_benchmark_topdown_downscaled_roll_scaledup_strength/benchmark/gripping_a_5_HTP_a_0.4999999999999999_-0.5_-0.5_0.5000000000000001_a_0.4/gripping_result_id2.json

@@ -0,0 +1 @@
+{"reward": -0.0027155695861695445, "design_loss": 4.20691940234974e-05, "all_loss": 0.12212102767089894}

debug_benchmark_topdown_downscaled_roll_scaledup_strength/benchmark/gripping_a_5_HTP_a_0.4999999999999999_-0.5_-0.5_0.5000000000000001_a_0.4/gripping_result_id20.json

@@ -0,0 +1 @@
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debug_benchmark_topdown_downscaled_roll_scaledup_strength/benchmark/gripping_a_5_HTP_a_0.4999999999999999_-0.5_-0.5_0.5000000000000001_a_0.4/gripping_result_id21.json

@@ -0,0 +1 @@
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debug_benchmark_topdown_downscaled_roll_scaledup_strength/benchmark/gripping_a_5_HTP_a_0.4999999999999999_-0.5_-0.5_0.5000000000000001_a_0.4/gripping_result_id22.json

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debug_benchmark_topdown_downscaled_roll_scaledup_strength/benchmark/gripping_a_5_HTP_a_0.4999999999999999_-0.5_-0.5_0.5000000000000001_a_0.4/gripping_result_id23.json

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debug_benchmark_topdown_downscaled_roll_scaledup_strength/benchmark/gripping_a_5_HTP_a_0.4999999999999999_-0.5_-0.5_0.5000000000000001_a_0.4/gripping_result_id24.json

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debug_benchmark_topdown_downscaled_roll_scaledup_strength/benchmark/gripping_a_5_HTP_a_0.4999999999999999_-0.5_-0.5_0.5000000000000001_a_0.4/gripping_result_id25.json

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debug_benchmark_topdown_downscaled_roll_scaledup_strength/benchmark/gripping_a_5_HTP_a_0.4999999999999999_-0.5_-0.5_0.5000000000000001_a_0.4/gripping_result_id26.json

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debug_benchmark_topdown_downscaled_roll_scaledup_strength/benchmark/gripping_a_5_HTP_a_0.4999999999999999_-0.5_-0.5_0.5000000000000001_a_0.4/gripping_result_id27.json

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debug_benchmark_topdown_downscaled_roll_scaledup_strength/benchmark/gripping_a_5_HTP_a_0.4999999999999999_-0.5_-0.5_0.5000000000000001_a_0.4/gripping_result_id28.json

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debug_benchmark_topdown_downscaled_roll_scaledup_strength/benchmark/gripping_a_5_HTP_a_0.4999999999999999_-0.5_-0.5_0.5000000000000001_a_0.4/gripping_result_id29.json

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debug_benchmark_topdown_downscaled_roll_scaledup_strength/benchmark/gripping_a_5_HTP_a_0.4999999999999999_-0.5_-0.5_0.5000000000000001_a_0.4/gripping_result_id3.json

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debug_benchmark_topdown_downscaled_roll_scaledup_strength/benchmark/gripping_a_5_HTP_a_0.4999999999999999_-0.5_-0.5_0.5000000000000001_a_0.4/gripping_result_id30.json

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debug_benchmark_topdown_downscaled_roll_scaledup_strength/benchmark/gripping_a_5_HTP_a_0.4999999999999999_-0.5_-0.5_0.5000000000000001_a_0.4/gripping_result_id31.json

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debug_benchmark_topdown_downscaled_roll_scaledup_strength/benchmark/gripping_a_5_HTP_a_0.4999999999999999_-0.5_-0.5_0.5000000000000001_a_0.4/gripping_result_id32.json

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debug_benchmark_topdown_downscaled_roll_scaledup_strength/benchmark/gripping_a_5_HTP_a_0.4999999999999999_-0.5_-0.5_0.5000000000000001_a_0.4/gripping_result_id33.json

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debug_benchmark_topdown_downscaled_roll_scaledup_strength/benchmark/gripping_a_5_HTP_a_0.4999999999999999_-0.5_-0.5_0.5000000000000001_a_0.4/gripping_result_id34.json

@@ -0,0 +1 @@
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debug_benchmark_topdown_downscaled_roll_scaledup_strength/benchmark/gripping_a_5_HTP_a_0.4999999999999999_-0.5_-0.5_0.5000000000000001_a_0.4/gripping_result_id35.json

@@ -0,0 +1 @@
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debug_benchmark_topdown_downscaled_roll_scaledup_strength/benchmark/gripping_a_5_HTP_a_0.4999999999999999_-0.5_-0.5_0.5000000000000001_a_0.4/gripping_result_id36.json

@@ -0,0 +1 @@
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debug_benchmark_topdown_downscaled_roll_scaledup_strength/benchmark/gripping_a_5_HTP_a_0.4999999999999999_-0.5_-0.5_0.5000000000000001_a_0.4/gripping_result_id37.json

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