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.gitattributes

@@ -0,0 +1,3 @@
+debug_server/softzoo/Ep_Batch_0_Sampling_0000_Local_0000.mp4 filter=lfs diff=lfs merge=lfs -text
+topdown_suction_orientation_loss/benchmark/gripping_a_5_HTP_a_0.5_-0.5_-0.5_0.5_a_0.5/Ep_Batch_0_Sampling_-001_Local_-001.mp4 filter=lfs diff=lfs merge=lfs -text
+topdown_suction_orientation_loss/benchmark/gripping_a_5_HTP_a_0.5_-0.5_-0.5_0.5_a_0.5/Ep_Batch_1_Sampling_-001_Local_-001.mp4 filter=lfs diff=lfs merge=lfs -text

debug_server/config.yaml

@@ -0,0 +1,79 @@
+exp_name: debug_server
+seed: &seed 310
+out_dir: ./logs/
+tensorboard_log_dir: runs/
+save_every_iter: &log_freq 10
+total_steps: 512 # Check diffusion_cfg to see how many steps there are in diffusion (normal diffusion + upsampler)
+substep_count: 1 # remember to update in diffusion config in pointe, under the k keys
+
+cond_config:
+  - name: "SoftZoo_Sim"
+    grad_scale: !!float 1e6
+    grad_clamp: !!float 1e0
+    calc_gradient: True
+    logging_bool: True
+  # - name: "Dist_To_Origin"
+  #   grad_scale: !!float 1e0
+  #   grad_clamp: !!float 1e-2
+  #   calc_gradient: True
+  #   logging_bool: True
+cond_overall_logging: True
+
+preload_emb:
+  condition_embedding: 
+    shape: [1,3,224,224]
+    path: asset/img_asset/ver_rec.png
+    random: False
+  diffusion_noise: 
+    shape: [2,6,1024]
+    path: asset/embeddings/base_noise_cone.npy
+  upsample_noise: 
+    shape: [1,6,3072]
+    path: asset/embeddings/upsample_noise_cone.npy
+
+softzoo_config:
+  custom_gravity: False
+  # eval: True
+  out_dir: null # Placeholder, need to be set in run.py
+  fixed_v: gripping_5_HTP.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
+  save_every_iter: *log_freq
+  render_every_iter: *log_freq
+  n_iters: 301
+  n_frames: 100
+
+  controller_type: all_on
+  active: True
+  action_v_strength: 0.35
+
+  loss_types: [ObjectBalancedLoss,ContactLoss,DiffOrientationLoss]
+  loss_coefs: [1.0,1.0,1.0]
+  obj_x_mul: [0.,1.,0.]
+  obj_particle_id: 2
+  surface_threshold: 0.02
+
+  seed: *seed  # Placeholder, do not use
+  torch_seed: *seed  # Placeholder, do not use
+  static_as_fixed: True
+  device_memory_fraction: 0.7
+
+  optimize_designer: True
+  optimize_design_types: ['geometry','softness','suction_val']
+  designer_lr: 0.1
+  optimize_controller: True
+  gen_pointe_bounding_box:
+    max: [1.5,0.1,1.5]
+    # mean: [0.,0.,0.]
+    min: [-1.5,-3.5,-1.5]
+
+  design_device: cpu
+  obj_initial_pos: [0,0,0]
+  num_fingers: 2
+
+pointe_config:
+  base_model_name: base40M
+  device: cuda:1
+  guidance_scale: [3.0, 0.0]
+  num_points: [1024, 3072]
+  sampling_mode: ddim
+  

debug_server/softzoo/Ep_Batch_0_Sampling_0000_Local_0000.mp4

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+version https://git-lfs.github.com/spec/v1
+oid sha256:3664db8ce3740eb6c950692670227eccf79e8693ff6ce6647debb5d45ea276f9
+size 534765

debug_server/softzoo/ckpt/args.json

@@ -0,0 +1,216 @@
+{
+    "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": 0.7,
+    "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",
+    "eval": false,
+    "final_target_idx": null,
+    "fixed_v": "gripping_5_HTP.json",
+    "gen_pointe_bounding_box": {
+        "max": [
+            1.5,
+            0.1,
+            1.5
+        ],
+        "min": [
+            -1.5,
+            -3.5,
+            -1.5
+        ]
+    },
+    "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,
+        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",
+        "DiffOrientationLoss"
+    ],
+    "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": 100,
+    "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",
+        "suction_val"
+    ],
+    "optimize_designer": true,
+    "out_dir": "./logs/debug_server/softzoo",
+    "recenter_mesh_target": false,
+    "render_every_iter": 10,
+    "rotation_up_direction": [
+        0.0,
+        1.0,
+        0.0
+    ],
+    "save_controller": false,
+    "save_designer": false,
+    "save_every_iter": 10,
+    "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",
+        "suction_val"
+    ],
+    "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_server/softzoo/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:
+    - 0.5
+    - -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
+  actuation_strength: 0.3
+  design_space: pbr
+  design_space_config:
+    base_shape:
+      initial_position:
+      - 0.55
+      - 0.205
+      - 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: 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: 0.0005
+  dim: 3
+  gravity:
+  - 0.0
+  - -3.8
+  - 0.0
+  max_actuation: 81
+  max_num_particles: 70000
+  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_server/training.log

@@ -0,0 +1,52 @@
+2025-11-18 08:45:54,505 [WARNING] Warning!!!!: 
+ The number of actuators 81 must be equal to the number of generated labels 57. Probllem in configuration files
+2025-11-18 08:45:54,654 [WARNING] Cluster 57 has too few points (0).
+2025-11-18 08:45:54,654 [WARNING] Cluster 58 has too few points (0).
+2025-11-18 08:45:54,654 [WARNING] Cluster 59 has too few points (0).
+2025-11-18 08:45:54,654 [WARNING] Cluster 60 has too few points (0).
+2025-11-18 08:45:54,654 [WARNING] Cluster 61 has too few points (0).
+2025-11-18 08:45:54,654 [WARNING] Cluster 62 has too few points (0).
+2025-11-18 08:45:54,654 [WARNING] Cluster 63 has too few points (0).
+2025-11-18 08:45:54,654 [WARNING] Cluster 64 has too few points (0).
+2025-11-18 08:45:54,655 [WARNING] Cluster 65 has too few points (0).
+2025-11-18 08:45:54,655 [WARNING] Cluster 66 has too few points (0).
+2025-11-18 08:45:54,655 [WARNING] Cluster 67 has too few points (0).
+2025-11-18 08:45:54,655 [WARNING] Cluster 68 has too few points (0).
+2025-11-18 08:45:54,655 [WARNING] Cluster 69 has too few points (0).
+2025-11-18 08:45:54,655 [WARNING] Cluster 70 has too few points (0).
+2025-11-18 08:45:54,655 [WARNING] Cluster 71 has too few points (0).
+2025-11-18 08:45:54,655 [WARNING] Cluster 72 has too few points (0).
+2025-11-18 08:45:54,655 [WARNING] Cluster 73 has too few points (0).
+2025-11-18 08:45:54,655 [WARNING] Cluster 74 has too few points (0).
+2025-11-18 08:45:54,655 [WARNING] Cluster 75 has too few points (0).
+2025-11-18 08:45:54,655 [WARNING] Cluster 76 has too few points (0).
+2025-11-18 08:45:54,655 [WARNING] Cluster 77 has too few points (0).
+2025-11-18 08:45:54,655 [WARNING] Cluster 78 has too few points (0).
+2025-11-18 08:45:54,655 [WARNING] Cluster 79 has too few points (0).
+2025-11-18 08:45:54,655 [WARNING] Cluster 80 has too few points (0).
+2025-11-18 08:50:26,926 [WARNING] Warning!!!!: 
+ The number of actuators 81 must be equal to the number of generated labels 57. Probllem in configuration files
+2025-11-18 08:50:27,057 [WARNING] Cluster 57 has too few points (0).
+2025-11-18 08:50:27,057 [WARNING] Cluster 58 has too few points (0).
+2025-11-18 08:50:27,057 [WARNING] Cluster 59 has too few points (0).
+2025-11-18 08:50:27,057 [WARNING] Cluster 60 has too few points (0).
+2025-11-18 08:50:27,057 [WARNING] Cluster 61 has too few points (0).
+2025-11-18 08:50:27,057 [WARNING] Cluster 62 has too few points (0).
+2025-11-18 08:50:27,057 [WARNING] Cluster 63 has too few points (0).
+2025-11-18 08:50:27,057 [WARNING] Cluster 64 has too few points (0).
+2025-11-18 08:50:27,057 [WARNING] Cluster 65 has too few points (0).
+2025-11-18 08:50:27,057 [WARNING] Cluster 66 has too few points (0).
+2025-11-18 08:50:27,057 [WARNING] Cluster 67 has too few points (0).
+2025-11-18 08:50:27,057 [WARNING] Cluster 68 has too few points (0).
+2025-11-18 08:50:27,057 [WARNING] Cluster 69 has too few points (0).
+2025-11-18 08:50:27,057 [WARNING] Cluster 70 has too few points (0).
+2025-11-18 08:50:27,057 [WARNING] Cluster 71 has too few points (0).
+2025-11-18 08:50:27,058 [WARNING] Cluster 72 has too few points (0).
+2025-11-18 08:50:27,058 [WARNING] Cluster 73 has too few points (0).
+2025-11-18 08:50:27,058 [WARNING] Cluster 74 has too few points (0).
+2025-11-18 08:50:27,058 [WARNING] Cluster 75 has too few points (0).
+2025-11-18 08:50:27,058 [WARNING] Cluster 76 has too few points (0).
+2025-11-18 08:50:27,058 [WARNING] Cluster 77 has too few points (0).
+2025-11-18 08:50:27,058 [WARNING] Cluster 78 has too few points (0).
+2025-11-18 08:50:27,058 [WARNING] Cluster 79 has too few points (0).
+2025-11-18 08:50:27,058 [WARNING] Cluster 80 has too few points (0).

debug_server/training_log.csv

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+phase,sampling_step,local_iter,batch_idx,sap_epoch,sap_loss,sap_inputs_grad_norm,sap_lr,sap_num_points,softzoo_loss,softzoo_grad_norm,softzoo_reward,softzoo_mean_loss,softzoo_scaled_mean_grad_norm,loss,grad_norm,note

topdown_suction_orientation_loss/benchmark/gripping_a_5_HTP_a_0.5_-0.5_-0.5_0.5_a_0.5/Ep_Batch_0_Sampling_-001_Local_-001.mp4

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+size 536152

topdown_suction_orientation_loss/benchmark/gripping_a_5_HTP_a_0.5_-0.5_-0.5_0.5_a_0.5/Ep_Batch_1_Sampling_-001_Local_-001.mp4

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topdown_suction_orientation_loss/benchmark/gripping_a_5_HTP_a_0.5_-0.5_-0.5_0.5_a_0.5/ckpt/args.json

@@ -0,0 +1,216 @@
+{
+    "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": 0.7,
+    "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",
+    "eval": false,
+    "final_target_idx": null,
+    "fixed_v": "gripping_5_HTP.json",
+    "gen_pointe_bounding_box": {
+        "max": [
+            1.5,
+            0.1,
+            1.5
+        ],
+        "min": [
+            -1.5,
+            -3.5,
+            -1.5
+        ]
+    },
+    "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,
+        0.1
+    ],
+    "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",
+        "DiffOrientationLoss"
+    ],
+    "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": 100,
+    "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",
+        "suction_val"
+    ],
+    "optimize_designer": true,
+    "out_dir": "./logs/topdown_suction_orientation_loss/benchmark/gripping_a_5_HTP_a_0.5_-0.5_-0.5_0.5_a_0.5",
+    "recenter_mesh_target": false,
+    "render_every_iter": 1,
+    "rotation_up_direction": [
+        0.0,
+        1.0,
+        0.0
+    ],
+    "save_controller": false,
+    "save_designer": false,
+    "save_every_iter": 1,
+    "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",
+        "suction_val"
+    ],
+    "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
+    ]
+}

topdown_suction_orientation_loss/benchmark/gripping_a_5_HTP_a_0.5_-0.5_-0.5_0.5_a_0.5/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:
+    - 0.5
+    - -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
+  actuation_strength: 0.3
+  design_space: pbr
+  design_space_config:
+    base_shape:
+      initial_position:
+      - 0.55
+      - 0.205
+      - 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: 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: 0.0005
+  dim: 3
+  gravity:
+  - 0.0
+  - -3.8
+  - 0.0
+  max_actuation: 81
+  max_num_particles: 70000
+  max_substeps: 7000
+  max_substeps_local: 20
+  needs_grad: true
+  padding:
+  - 28
+  - 3
+  - 28
+  quality: 1.0
+  use_checkpointing: true
+  use_dynamic_field: false

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

@@ -0,0 +1 @@
+{"reward": 0.011461645376453583, "design_loss": 0.0, "all_loss": 0.6536722165798066}

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

@@ -0,0 +1 @@
+{"reward": -0.002735354896690967, "design_loss": 3.6306680613051867e-06, "all_loss": 0.2932641860504419}

topdown_suction_orientation_loss/benchmark/gripping_a_5_HTP_a_0.5_-0.5_-0.5_0.5_a_0.5/softzoo_config.yaml

@@ -0,0 +1,51 @@
+action_v_strength: 0.35
+active: true
+controller_type: all_on
+custom_gravity: false
+design_device: cpu
+designer_lr: 0.1
+device_memory_fraction: 0.7
+env_config_file: gripping_a_5_HTP_a_0.5_-0.5_-0.5_0.5_a_0.5.yaml
+fixed_v: gripping_5_HTP.json
+gen_pointe_bounding_box:
+  max:
+  - 1.5
+  - 0.1
+  - 1.5
+  min:
+  - -1.5
+  - -3.5
+  - -1.5
+loss_coefs:
+- 1.0
+- 1.0
+- 0.1
+loss_types:
+- ObjectBalancedLoss
+- ContactLoss
+- DiffOrientationLoss
+n_frames: 100
+n_iters: 301
+num_fingers: 2
+obj_initial_pos:
+- 0
+- 0
+- 0
+obj_particle_id: 2
+obj_x_mul:
+- 0.0
+- 1.0
+- 0.0
+optimize_controller: true
+optimize_design_types:
+- geometry
+- softness
+- suction_val
+optimize_designer: true
+out_dir: ./logs/topdown_suction_orientation_loss/benchmark/gripping_a_5_HTP_a_0.5_-0.5_-0.5_0.5_a_0.5
+render_every_iter: 1
+save_every_iter: 1
+seed: 310
+static_as_fixed: true
+surface_threshold: 0.02
+torch_seed: 310

topdown_suction_orientation_loss/training.log

@@ -0,0 +1,112 @@
+2025-11-18 07:47:08,898 [WARNING] Warning!!!!: 
+ The number of actuators 81 must be equal to the number of generated labels 57. Probllem in configuration files
+2025-11-18 07:47:09,022 [WARNING] Cluster 57 has too few points (0).
+2025-11-18 07:47:09,022 [WARNING] Cluster 58 has too few points (0).
+2025-11-18 07:47:09,022 [WARNING] Cluster 59 has too few points (0).
+2025-11-18 07:47:09,022 [WARNING] Cluster 60 has too few points (0).
+2025-11-18 07:47:09,022 [WARNING] Cluster 61 has too few points (0).
+2025-11-18 07:47:09,022 [WARNING] Cluster 62 has too few points (0).
+2025-11-18 07:47:09,022 [WARNING] Cluster 63 has too few points (0).
+2025-11-18 07:47:09,022 [WARNING] Cluster 64 has too few points (0).
+2025-11-18 07:47:09,022 [WARNING] Cluster 65 has too few points (0).
+2025-11-18 07:47:09,022 [WARNING] Cluster 66 has too few points (0).
+2025-11-18 07:47:09,022 [WARNING] Cluster 67 has too few points (0).
+2025-11-18 07:47:09,022 [WARNING] Cluster 68 has too few points (0).
+2025-11-18 07:47:09,022 [WARNING] Cluster 69 has too few points (0).
+2025-11-18 07:47:09,022 [WARNING] Cluster 70 has too few points (0).
+2025-11-18 07:47:09,022 [WARNING] Cluster 71 has too few points (0).
+2025-11-18 07:47:09,022 [WARNING] Cluster 72 has too few points (0).
+2025-11-18 07:47:09,022 [WARNING] Cluster 73 has too few points (0).
+2025-11-18 07:47:09,022 [WARNING] Cluster 74 has too few points (0).
+2025-11-18 07:47:09,022 [WARNING] Cluster 75 has too few points (0).
+2025-11-18 07:47:09,022 [WARNING] Cluster 76 has too few points (0).
+2025-11-18 07:47:09,022 [WARNING] Cluster 77 has too few points (0).
+2025-11-18 07:47:09,022 [WARNING] Cluster 78 has too few points (0).
+2025-11-18 07:47:09,022 [WARNING] Cluster 79 has too few points (0).
+2025-11-18 07:47:09,022 [WARNING] Cluster 80 has too few points (0).
+2025-11-18 08:08:05,885 [WARNING] Warning!!!!: 
+ The number of actuators 81 must be equal to the number of generated labels 53. Probllem in configuration files
+2025-11-18 08:08:06,017 [WARNING] Cluster 53 has too few points (0).
+2025-11-18 08:08:06,017 [WARNING] Cluster 54 has too few points (0).
+2025-11-18 08:08:06,017 [WARNING] Cluster 55 has too few points (0).
+2025-11-18 08:08:06,017 [WARNING] Cluster 56 has too few points (0).
+2025-11-18 08:08:06,017 [WARNING] Cluster 57 has too few points (0).
+2025-11-18 08:08:06,017 [WARNING] Cluster 58 has too few points (0).
+2025-11-18 08:08:06,017 [WARNING] Cluster 59 has too few points (0).
+2025-11-18 08:08:06,017 [WARNING] Cluster 60 has too few points (0).
+2025-11-18 08:08:06,017 [WARNING] Cluster 61 has too few points (0).
+2025-11-18 08:08:06,017 [WARNING] Cluster 62 has too few points (0).
+2025-11-18 08:08:06,017 [WARNING] Cluster 63 has too few points (0).
+2025-11-18 08:08:06,017 [WARNING] Cluster 64 has too few points (0).
+2025-11-18 08:08:06,017 [WARNING] Cluster 65 has too few points (0).
+2025-11-18 08:08:06,017 [WARNING] Cluster 66 has too few points (0).
+2025-11-18 08:08:06,018 [WARNING] Cluster 67 has too few points (0).
+2025-11-18 08:08:06,018 [WARNING] Cluster 68 has too few points (0).
+2025-11-18 08:08:06,018 [WARNING] Cluster 69 has too few points (0).
+2025-11-18 08:08:06,018 [WARNING] Cluster 70 has too few points (0).
+2025-11-18 08:08:06,018 [WARNING] Cluster 71 has too few points (0).
+2025-11-18 08:08:06,018 [WARNING] Cluster 72 has too few points (0).
+2025-11-18 08:08:06,018 [WARNING] Cluster 73 has too few points (0).
+2025-11-18 08:08:06,018 [WARNING] Cluster 74 has too few points (0).
+2025-11-18 08:08:06,018 [WARNING] Cluster 75 has too few points (0).
+2025-11-18 08:08:06,018 [WARNING] Cluster 76 has too few points (0).
+2025-11-18 08:08:06,018 [WARNING] Cluster 77 has too few points (0).
+2025-11-18 08:08:06,018 [WARNING] Cluster 78 has too few points (0).
+2025-11-18 08:08:06,018 [WARNING] Cluster 79 has too few points (0).
+2025-11-18 08:08:06,018 [WARNING] Cluster 80 has too few points (0).
+2025-11-18 08:16:30,572 [WARNING] Warning!!!!: 
+ The number of actuators 81 must be equal to the number of generated labels 57. Probllem in configuration files
+2025-11-18 08:16:30,695 [WARNING] Cluster 57 has too few points (0).
+2025-11-18 08:16:30,695 [WARNING] Cluster 58 has too few points (0).
+2025-11-18 08:16:30,696 [WARNING] Cluster 59 has too few points (0).
+2025-11-18 08:16:30,696 [WARNING] Cluster 60 has too few points (0).
+2025-11-18 08:16:30,696 [WARNING] Cluster 61 has too few points (0).
+2025-11-18 08:16:30,696 [WARNING] Cluster 62 has too few points (0).
+2025-11-18 08:16:30,696 [WARNING] Cluster 63 has too few points (0).
+2025-11-18 08:16:30,696 [WARNING] Cluster 64 has too few points (0).
+2025-11-18 08:16:30,696 [WARNING] Cluster 65 has too few points (0).
+2025-11-18 08:16:30,696 [WARNING] Cluster 66 has too few points (0).
+2025-11-18 08:16:30,696 [WARNING] Cluster 67 has too few points (0).
+2025-11-18 08:16:30,696 [WARNING] Cluster 68 has too few points (0).
+2025-11-18 08:16:30,696 [WARNING] Cluster 69 has too few points (0).
+2025-11-18 08:16:30,696 [WARNING] Cluster 70 has too few points (0).
+2025-11-18 08:16:30,696 [WARNING] Cluster 71 has too few points (0).
+2025-11-18 08:16:30,696 [WARNING] Cluster 72 has too few points (0).
+2025-11-18 08:16:30,696 [WARNING] Cluster 73 has too few points (0).
+2025-11-18 08:16:30,696 [WARNING] Cluster 74 has too few points (0).
+2025-11-18 08:16:30,696 [WARNING] Cluster 75 has too few points (0).
+2025-11-18 08:16:30,696 [WARNING] Cluster 76 has too few points (0).
+2025-11-18 08:16:30,696 [WARNING] Cluster 77 has too few points (0).
+2025-11-18 08:16:30,696 [WARNING] Cluster 78 has too few points (0).
+2025-11-18 08:16:30,696 [WARNING] Cluster 79 has too few points (0).
+2025-11-18 08:16:30,696 [WARNING] Cluster 80 has too few points (0).
+2025-11-18 08:37:31,261 [WARNING] Warning!!!!: 
+ The number of actuators 81 must be equal to the number of generated labels 53. Probllem in configuration files
+2025-11-18 08:37:31,394 [WARNING] Cluster 53 has too few points (0).
+2025-11-18 08:37:31,394 [WARNING] Cluster 54 has too few points (0).
+2025-11-18 08:37:31,394 [WARNING] Cluster 55 has too few points (0).
+2025-11-18 08:37:31,394 [WARNING] Cluster 56 has too few points (0).
+2025-11-18 08:37:31,394 [WARNING] Cluster 57 has too few points (0).
+2025-11-18 08:37:31,394 [WARNING] Cluster 58 has too few points (0).
+2025-11-18 08:37:31,394 [WARNING] Cluster 59 has too few points (0).
+2025-11-18 08:37:31,394 [WARNING] Cluster 60 has too few points (0).
+2025-11-18 08:37:31,394 [WARNING] Cluster 61 has too few points (0).
+2025-11-18 08:37:31,394 [WARNING] Cluster 62 has too few points (0).
+2025-11-18 08:37:31,394 [WARNING] Cluster 63 has too few points (0).
+2025-11-18 08:37:31,394 [WARNING] Cluster 64 has too few points (0).
+2025-11-18 08:37:31,394 [WARNING] Cluster 65 has too few points (0).
+2025-11-18 08:37:31,394 [WARNING] Cluster 66 has too few points (0).
+2025-11-18 08:37:31,394 [WARNING] Cluster 67 has too few points (0).
+2025-11-18 08:37:31,394 [WARNING] Cluster 68 has too few points (0).
+2025-11-18 08:37:31,394 [WARNING] Cluster 69 has too few points (0).
+2025-11-18 08:37:31,394 [WARNING] Cluster 70 has too few points (0).
+2025-11-18 08:37:31,394 [WARNING] Cluster 71 has too few points (0).
+2025-11-18 08:37:31,394 [WARNING] Cluster 72 has too few points (0).
+2025-11-18 08:37:31,394 [WARNING] Cluster 73 has too few points (0).
+2025-11-18 08:37:31,394 [WARNING] Cluster 74 has too few points (0).
+2025-11-18 08:37:31,394 [WARNING] Cluster 75 has too few points (0).
+2025-11-18 08:37:31,394 [WARNING] Cluster 76 has too few points (0).
+2025-11-18 08:37:31,394 [WARNING] Cluster 77 has too few points (0).
+2025-11-18 08:37:31,394 [WARNING] Cluster 78 has too few points (0).
+2025-11-18 08:37:31,394 [WARNING] Cluster 79 has too few points (0).
+2025-11-18 08:37:31,394 [WARNING] Cluster 80 has too few points (0).

topdown_suction_orientation_loss/training_log.csv

@@ -0,0 +1 @@
+phase,sampling_step,local_iter,batch_idx,sap_epoch,sap_loss,sap_inputs_grad_norm,sap_lr,sap_num_points,softzoo_loss,softzoo_grad_norm,softzoo_reward,softzoo_mean_loss,softzoo_scaled_mean_grad_norm,loss,grad_norm,note