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20260108_120632_penfingersect_hand_geo_2e-2_topo_4e-2_accum_3_des_1e-1_seed67/cmd_config.yaml

@@ -0,0 +1,25 @@
+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_120632_penfingersect_hand_geo_2e-2_topo_4e-2_accum_3_des_1e-1_seed67/config.yaml

@@ -0,0 +1,63 @@
+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_120632_penfingersect_hand_geo_2e-2_topo_4e-2_accum_3_des_1e-1_seed67/embeddings/gripper_idx0_design_3.540355355603497e-18_sim_0.04889010033377063.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+{
+    "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
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+    "closed_loop_sinwave_hidden_filters": [
+        32,
+        32
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+    "closed_loop_sinwave_obs_names": [
+        "com",
+        "objective"
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+        "sin",
+        "sigmoid"
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+    "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": {
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+        1.0
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+    "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",
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+    "n_sin_waves": 4,
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+    "optimize_design_types": [
+        "geometry",
+        "softness_E",
+        "softness_v",
+        "suction_val"
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+    "out_dir": "./logs/20260108_120632_penfingersect_hand_geo_2e-2_topo_4e-2_accum_3_des_1e-1_seed67/softzoo",
+    "recenter_mesh_target": false,
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+    "save_designer": false,
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+    "sdf_basis_mesh_paths": [],
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+    "sdf_basis_passive_geometry_mul": 0.5,
+    "sdf_basis_passive_softness_mul": 10,
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+    "seed": 22,
+    "set_design_types": [
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+        "softness_E",
+        "softness_v",
+        "actuator",
+        "actuator_direction",
+        "is_passive_fixed",
+        "suction_val"
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+    "sin_omega_mul": 10.0,
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+    "v_following_mode": 0,
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+    "wass_barycenter_init_coefs_softness": null,
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+}

20260108_120632_penfingersect_hand_geo_2e-2_topo_4e-2_accum_3_des_1e-1_seed67/softzoo/ckpt/env_config.yaml

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+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:
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+    - 0.0
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+    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:
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+    - 0.0
+    n_actuators: 101
+    p_rho_lower_bound_mul: 0.1
+  objective: throw_object
+  objective_config:
+    forward_direction:
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+    - 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

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