Delete 20260108_082120_penfingersect_hand_geo_2e-2_topo_4e-2_accum_3_des_1e-1_seed67

20260108_082120_penfingersect_hand_geo_2e-2_topo_4e-2_accum_3_des_1e-1_seed67/cmd_config.yaml

@@ -1,25 +0,0 @@
-accum_grad_sim: 3
-designer_scale: 0.1
-designer_type: branching
-device: cuda:0
-env_config: gripping_a_5_HTP_a_0.5_-0.5_-0.5_0.5_a_0.5.yaml
-exp_name: penfingersect_hand_geo_2e-2_topo_4e-2_accum_3_des_1e-1
-fixed_v_file: gripping_5_HTP.json
-geometry_lr: 0.02
-grad_clipping: 100.0
-gripper_dim: 12
-gumbel: true
-init_emb_path: asset/embeddings/hand_stump_1_hard_09_3_soft_03.npz
-layout_config_file: hand.json
-max_epoch: 1000
-num_fingers: 5
-num_segments: 10
-object_set_file: objects_set_a.json
-optim_config_path: config/optimization_config/hand/pen_finger_sect.yaml
-seed: 67
-topo_lr: 0.04
-zero_grad_dims:
-- 8
-- 9
-- 10
-- 11

20260108_082120_penfingersect_hand_geo_2e-2_topo_4e-2_accum_3_des_1e-1_seed67/config.yaml

@@ -1,63 +0,0 @@
-exp_name: debug_server
-seed: &seed 22
-out_dir: ./logs/
-tensorboard_log_dir: runs/
-save_every_iter: &log_freq 12
-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
-
-softzoo_config:
-  custom_gravity: False
-  # eval: True
-  out_dir: null # Placeholder, need to be set in run.py
-  fixed_v: gripping_5_HTP.json
-  objects_set_file: objects_set_a.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
-  layout_config_file: hand.json
-  save_every_iter: *log_freq
-  render_every_iter: 8
-  n_iters: 301
-  n_frames: 100
-
-  controller_type: all_on
-  active: True
-  action_v_strength: 0.35
-
-  loss_types: [ObjectBalancedLoss,ContactLoss,ThrowingObjectLoss]
-  loss_coefs: [0.5,2.0,2.0]
-  obj_x_mul: [0.,1.,0.]
-  obj_particle_id: 2
-
-  design_loss_types:  ['FingerPenLoss','SegmentGrowthLoss','SelfFingerPenLoss']
-  design_loss_coeffs: [0.1,0.001,0.1]
-
-  seed: *seed  # Placeholder, do not use
-  torch_seed: *seed  # Placeholder, do not use
-  static_as_fixed: True
-  device_memory_fraction: 0.775
-
-  optimize_designer: True
-  optimize_design_types: ['geometry','softness_E','softness_v','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

20260108_082120_penfingersect_hand_geo_2e-2_topo_4e-2_accum_3_des_1e-1_seed67/embeddings/gripper_idx0_design_3.540355355603497e-18_sim_0.04889007842551021.npz

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20260108_082120_penfingersect_hand_geo_2e-2_topo_4e-2_accum_3_des_1e-1_seed67/embeddings/gripper_idx12_design_6.272682639973937e-08_sim_0.048879041547536216.npz

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20260108_082120_penfingersect_hand_geo_2e-2_topo_4e-2_accum_3_des_1e-1_seed67/embeddings/gripper_idx24_design_0.0001327051140833646_sim_0.04839284127261714.npz

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20260108_082120_penfingersect_hand_geo_2e-2_topo_4e-2_accum_3_des_1e-1_seed67/embeddings/gripper_idx36_design_0.00019921021885238588_sim_0.04717040644625155.npz

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20260108_082120_penfingersect_hand_geo_2e-2_topo_4e-2_accum_3_des_1e-1_seed67/softzoo/ckpt/args.json

@@ -1,229 +0,0 @@
-{
-    "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",
-    "design_loss_coeffs": [
-        0.1,
-        0.001,
-        0.1
-    ],
-    "design_loss_types": [
-        "FingerPenLoss",
-        "SegmentGrowthLoss",
-        "SelfFingerPenLoss"
-    ],
-    "designer_geometry_offset": 0.5,
-    "designer_lr": 0.1,
-    "designer_softness_offset": 0.5,
-    "designer_type": "mlp",
-    "device_memory_fraction": 0.775,
-    "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
-    ],
-    "layout_config_file": "hand.json",
-    "load_args": null,
-    "load_controller": null,
-    "load_designer": null,
-    "load_rl_controller": null,
-    "log_every_iter": 1,
-    "log_reward": false,
-    "loss_coefs": [
-        0.5,
-        2.0,
-        2.0
-    ],
-    "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",
-        "ThrowingObjectLoss"
-    ],
-    "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,
-    "objects_set_file": "objects_set_a.json",
-    "optimize_controller": true,
-    "optimize_design_types": [
-        "geometry",
-        "softness_E",
-        "softness_v",
-        "suction_val"
-    ],
-    "optimize_designer": true,
-    "out_dir": "./logs/20260108_082120_penfingersect_hand_geo_2e-2_topo_4e-2_accum_3_des_1e-1_seed67/softzoo",
-    "recenter_mesh_target": false,
-    "render_every_iter": 8,
-    "rotation_up_direction": [
-        0.0,
-        1.0,
-        0.0
-    ],
-    "save_controller": false,
-    "save_designer": false,
-    "save_every_iter": 12,
-    "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": 22,
-    "set_design_types": [
-        "geometry",
-        "softness_E",
-        "softness_v",
-        "actuator",
-        "actuator_direction",
-        "is_passive_fixed",
-        "suction_val"
-    ],
-    "sin_omega_mul": 10.0,
-    "static_as_fixed": true,
-    "substep_freq": 100,
-    "torch_seed": 22,
-    "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
-    ]
-}

20260108_082120_penfingersect_hand_geo_2e-2_topo_4e-2_accum_3_des_1e-1_seed67/softzoo/ckpt/env_config.yaml

@@ -1,137 +0,0 @@
-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

20260108_082120_penfingersect_hand_geo_2e-2_topo_4e-2_accum_3_des_1e-1_seed67/softzoo/design/gripper_batch_-1.npz

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