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a/20260110_180705_revert_des_debug_mode_nogumbel_seed647/cmd_config.yaml b/20260110_180705_revert_des_debug_mode_nogumbel_seed647/cmd_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..efa0ce5e6443acfb9da6afb362fa5e73e2530d14 --- /dev/null +++ b/20260110_180705_revert_des_debug_mode_nogumbel_seed647/cmd_config.yaml @@ -0,0 +1,29 @@ +accum_grad_sim: 1 +designer_scale: 0.01 +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: revert_des_debug_mode_nogumbel +fixed_v_file: gripping_5_HTP.json +geometry_lr: 0.01 +grad_clipping: 100.0 +gripper_dim: 12 +gumbel: false +init_emb_path: asset/embeddings/hand_stump_1_hard_09_3_soft_03.npz +layout_config_file: hand.json +max_epoch: 1200 +min_delta: 0.0 +monitor_metric: eval/total_loss +num_fingers: 5 +num_segments: 10 +object_set_file: objects_set_a.json +optim_config_path: config/optimization_config/hand/debug_mode.yaml +patience: 15 +seed: 647 +stop_mode: min +topo_lr: 0.02 +zero_grad_dims: +- 8 +- 9 +- 10 +- 11 diff --git a/20260110_180705_revert_des_debug_mode_nogumbel_seed647/config.yaml b/20260110_180705_revert_des_debug_mode_nogumbel_seed647/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b3a7d892183abafd5fea343d6bb65dde2a5b3fa2 --- /dev/null +++ b/20260110_180705_revert_des_debug_mode_nogumbel_seed647/config.yaml @@ -0,0 +1,64 @@ +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: [0.5,2.0,1.0] + obj_x_mul: [0.,1.,0.] + com_x_mul: [5.,1.,5.] + obj_particle_id: 2 + + design_loss_types: ['FingerPenLoss','SelfFingerPenLoss'] + design_loss_coeffs: [0.01,0.25] + + 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: 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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 + ], + "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" + ], + "com_x_mul": [ + 5.0, + 1.0, + 5.0 + ], + "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": [ + 0.01, + 0.25 + ], + "design_loss_types": [ + "FingerPenLoss", + "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, + 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", + "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/20260110_180705_revert_des_debug_mode_nogumbel_seed647/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 + ] +} \ No newline at end of file diff --git a/20260110_180705_revert_des_debug_mode_nogumbel_seed647/softzoo/ckpt/env_config.yaml b/20260110_180705_revert_des_debug_mode_nogumbel_seed647/softzoo/ckpt/env_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2e1515b5178b2101664f08833e617b086320aca8 --- /dev/null +++ b/20260110_180705_revert_des_debug_mode_nogumbel_seed647/softzoo/ckpt/env_config.yaml @@ -0,0 +1,137 @@ +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 + 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min +topo_lr: 0.01 +zero_grad_dims: +- 8 +- 9 +- 10 +- 11 diff --git a/20260111_055829_new_topo_212_hand_geo_1e-2_topo_1e-2_accum_1_des_1e-2_seed569/config.yaml b/20260111_055829_new_topo_212_hand_geo_1e-2_topo_1e-2_accum_1_des_1e-2_seed569/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..ab332a6446227ff23a9d91b94000ea68abe8614f --- /dev/null +++ b/20260111_055829_new_topo_212_hand_geo_1e-2_topo_1e-2_accum_1_des_1e-2_seed569/config.yaml @@ -0,0 +1,64 @@ +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: [0.5,2.0,1.0] + obj_x_mul: [0.,1.,0.] + com_x_mul: [2.,1.,2.] + obj_particle_id: 2 + + design_loss_types: ['FingerPenLoss','SelfFingerPenLoss'] + design_loss_coeffs: [0.01,0.25] + + seed: *seed # Placeholder, do not use + torch_seed: *seed # Placeholder, do not use + static_as_fixed: True + device_memory_fraction: 0.775 + + 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+comment Created by Open3D +element vertex 1928 +property double x +property double y +property double z +element face 4028 +property list uchar uint vertex_indices +end_header +?̬ ?433d?L??433d?L?̬ ?433Sl?L?̬ ?433??̬ ?433W?L??433W?L?̬ ?433؉?L?̬ ?533S??̬ ?533PQ?L??533PQ?L?̬ ?533S4?L?̬ ?533m??,D?433k?L?l'?433k?L?,D?433??,D?433i?L?l'?433i??,D?433fP?L?l'?433fP??,D?433d?L?,D?433??,D?433Zm?L?l'?433Zm?L?,D?433SP??,D?433W?L?l'?533U??,D?533U??,D?533R?L?l'?533R??,D?533PQ?L?,D?533m??,D?533K?L?l'?533K?L?,D?533Ș??,D?533H?L?l'?533H??,D?533F5?L?l'?533F5?L?,D?533Q?L?`?433k?L?`?433i?L?`?433fP?L?`?433d?L?`?433Zm?L?`?433W?L?`?533U?L?`?533R?L?`?533PQ?L?`?533K?L?`?533H?L?`?533F5?̬D?Y@?533U? ?B?533U? ?Y@?533S? ?Y@?533? ? +?533U?̬D?,?433Zm? ?l?433Zm? ?,?433SP? ?,?433؉? ??433d? ?̬ ?433Sl?̬D?̬ ?433a? ??433a? ?̬ ?433S?̬D?̬ ?433\4? ??433\4? ?̬ ?433? ??433Zm? ?̬ ?433SP?̬D?̬ ?433W? ??533U? ?̬ ?533S?̬D?̬ ?533U? ?̬ ?533? ??533PQ? ?̬ ?533S4? ?̬ ?533m?̬D?̬ ?533K? ??533K? ?̬ ?533Ș?̬D?̬ ?533H? ??533H? ?̬ ?533S?̬D?,D?433n? ?l'?433n? ?,D?433S? ?l'?433k? ?l'?433i? ?l'?433fP?̬D?,D?433a? ?l'?433_?̬D?,D?433_?̬D?,D?433\4? ?l'?433Zm? ?l'?433W?̬D?,D?533U? ?l'?533U? ?,D?533S? ?,D?533? ?l'?533R? ?l'?533M?̬D?,D?533M? ?,D?533S?̬D?,D?533F5? ?`?433n? ?`?433k? ?`?433i?̬D?̬}?433fP? ?̬}?4333?̬D?̬}?433d? ?̬}?433? ?`?433a? ?̬}?433S?̬D?̬}?433_?̬D?̬}?433\4? ?`?433Zm? ?̬}?433SP? ?`?433W? ?`?533U? ?̬}?533S?̬D?̬}?533U? ?̬}?533? ?`?533R? ?`?533PQ?̬D?̬}?533M? ?̬}?533m?̬D?̬}?533K?̬D?̬}?533H? ?̬}?533S? ?l?433fP? ?l?433d? ?l?433_? ?l?433\4? ?l?533U? ?l?533M? ?l?533K? ?l?533H?l +?YO?533U??QM?533U??YO?533S??YO?533?l +?YJ?433W??L?433W??YJ?433؉?l +?YJ?533U??YJ?533?l +?YEj?433Zm??G1?433Zm??YEj?433SP?l +?YEj?433W??YEj?533S??G1?533U?l +?Y@?433Zm??Y@?433SP?l +?Y@?433W??B?533U??Y@?533?l +?̬'?433Zm??̬'?433SP??̬'?433؉?? +?433W?l +?̬'?533U??̬'?533S??̬'?533?l +?,`?433Zm??,`?433SP??lC?433W?l +?,`?433W?l +?,`?533U??,`?533?l +?,`?533K??lC?533K??,`?533Ș??,`?533?l +?̬?433Zm??̬?433SP?l +?̬?433W?l +?̬?533U??̬?533??|?533K?l +?,?433Zm??l?433Zm?l +?,?433W??,?433؉?l +?,?533U??,?533?l +?̬ ?433k???433k??̬ ?433?l +?̬ ?433i???433i?l +?̬ ?433fP???433fP???433d?l +?̬ ?433a??̬ ?433???433_??̬ ?433S?l +?̬ ?433_???433\4?l +?̬ ?433Zm???433Zm?l +?̬ ?433W??̬ ?533?l +?̬ ?533PQ???533M??̬ ?533m?l +?̬ ?533M?l +?̬ ?533K??̬ ?533Ș??̬ ?533???533H??̬ ?533S?l +?,D?433n??,D?433?l +?,D?433fP??,D?4333??l'?433fP??l'?433d?l +?,D?433d?l +?,D?433a??,D?433S?l +?,D?533U??l'?533R??l'?533PQ??l'?533K??l'?533F5?l +?,D?533F5??,D?533Q??̬}?433S?l +?̬}?433n??`?433n?l +?̬}?433k?l +?̬}?433i??`?433fP??`?433d?l +?̬}?433a??`?433a??̬}?433SP??`?433Zm?l +?̬}?433W??̬}?433؉?l +?̬}?533U??`?533U??̬}?533S??`?533R??`?533PQ??̬}?533m?l +?̬}?533K??̬}?533Ș??`?533K??`?533H?l +?̬}?533H??̬}?533S?l +?̬}?533F5??̬}?533Q??l?433n??l?433k??l?433i??l?433fP??l?433d??l?433a??l?433_??l?433\4??l?433W??l?533M??l?533F5?,B'?YO?433Zm?̌5?QM?433Zm?̌5?YO?433SP?,B'?YO?433W?̌5?QM?433W?,B'?YO?533U?̌5?YO?533S?,B'?YJ?433Zm?̌5?YJ?433SP?̌5?L?533U?̌5?YJ?533?,B'?YEj?433Zm?̌5?G1?433Zm?̌5?YEj?433؉?,B'?YEj?533U?̌5?G1?533R?,B'?YEj?533R?̌5?YEj?533S4?,B'?Y@?433\4?̌5?B?433\4?̌5?Y@?433?̌5?Y@?433SP?,B'?Y@?433Zm?̌5?Y@?433؉?̌5?B?533R?̌5?Y@?533?,B'?̬'?433fP?̌5? +?433fP?̌5?̬'?4333?,B'?̬'?433d?̌5? +?433d?̌5?̬'?433?̌5? +?433\4?̌5?̬'?433SP?̌5? +?433Zm?̌5?̬'?433؉?̌5? +?433W?̌5?̬'?533S?̌5?̬'?533?,B'?̬'?533PQ?̌5? +?533PQ?̌5?̬'?533S4?,B'?̬'?533M?̌5? +?533M?̌5?̬'?533Ș?̌5?lC?433fP?̌5?,`?433Sl?,B'?,`?433d?̌5?,`?433?̌5?,`?433SP?̌5?lC?433W?̌5?,`?533?̌5?lC?533PQ?̌5?,`?533m?,B'?,`?533M?,B'?lC?533Ș?̌5?,`?533Ș?,B'?,`?533K?,B'?̬?433d?̌5?̬?433Sl?̌5?|?433a?,B'?̬?433a?̌5?̬?433S?̌5?̬?433SP?̌5?̬?533?,B'?̬?533PQ?̌5?|?533PQ?̌5?̬?533S4?̌5?|?533M?̌5?̬?533m?,B'?̬?533K?̌5?|?533K?̌5?̬?533Ș?̌5?̬?533?,B'?,?433fP?̌5?l?433fP?̌5?,?4333?,B'?,?433d?,B'?,?433a?̌5?,?433S?,B'?,?433Zm?̌5?,?433SP?̌5?l?433W?̌5?,?433؉?,B'?,?433W?̌5?,?533S?̌5?,?533?,B'?,?533PQ?̌5?,?533S4?̌5?l?533M?,B'?,?533M?̌5?l?533K?̌5?,?533Ș?̌5??433k?̌5?̬ ?433?̌5??433i?̌5??433a?̌5?̬ ?433?,B'?̬ ?433_?̌5?̬ ?433?̌5??433\4?̌5??433W?̌5??533R?,B'?̬ ?533R?,B'?̬ ?533PQ?,B'?̬ ?533M?̌5?̬ ?533m?̌5??533M?,B'?̬ ?533K?̌5??533K?̌5?̬ ?533Ș?,B'?̬ ?533H?̌5?̬ ?533?̌5?,D?433?,B'?,D?433i?̌5?,D?433S?̌5?l'?433i?̌5?l'?433fP?,B'?,D?433d?̌5?,D?433Sl?̌5?l'?433a?,B'?,D?433a?̌5?l'?433_?,B'?,D?433W?̌5?,D?433؉?̌5?l'?433W?̌5?l'?533U?,B'?,D?533U?̌5?,D?533?̌5?l'?533M?̌5?l'?533H?̌5?l'?533F5?̌5?,D?533Q?,B'?̬}?433n?̌5?̬}?433?̌5?`?433i?,B'?̬}?433fP?̌5?̬}?4333?̌5?`?433d?,B'?̬}?433d?̌5?̬}?433?,B'?̬}?433\4?̌5?̬}?433?̌5?`?433\4?̌5?̬}?433SP?,B'?̬}?433Zm?̌5?`?433W?̌5?̬}?533S?̌5?`?533R?̌5?`?533PQ?̌5?`?533M?,B'?̬}?533M?̌5?̬}?533Ș?,B'?̬}?533K?,B'?̬}?533H?̌5?`?533F5?̌5?̬}?533S?,B'?̬}?533F5?̌5?l?433k?̌5?l?433i?̌5?l?433a?̌5?l?433_?̌5?l?433Zm?̌5?l?433W?̌5?l?533K?̌5?l?533H?C?YO?433Zm?C?YO?433W?LR?QM?533U?LR?YO?533S?C?YO?533U?LR?YO?533?C?YJ?433Zm?LR?YJ?433؉?LR?L?433W?C?YJ?533U?LR?L?533U?LR?YJ?533S?LR?YEj?433SP?C?YEj?433Zm?LR?G1?433Zm?C?YEj?533U?LR?YEj?533S?C?YEj?533R?C?Y@?433fP?LR?B?433fP?LR?Y@?4333?LR?Y@?433Sl?C?Y@?433\4?LR?Y@?433SP?C?B?433SP?C?Y@?433Zm?C?Y@?533U?LR?Y@?533S?C?̬'?433i?LR? +?433i?LR?̬'?433S?C?̬'?433fP?LR?̬'?4333?LR? +?433fP?LR?̬'?433Sl?LR? +?433d?C?̬'?433a?LR? +?433a?LR?̬'?433S?LR?̬'?433SP?C?̬'?433W?LR?̬'?533S?C?̬'?533U?C?̬'?533PQ?LR?̬'?533m?LR? +?533M?LR?̬'?533Ș?LR?lC?433i?LR?,`?433Sl?LR?,`?433?LR?lC?433a?LR?lC?433Zm?C?,`?433Zm?LR?,`?433؉?LR?,`?533S?C?,`?533U?LR?,`?533S4?C?,`?533PQ?LR?lC?533PQ?LR?,`?533Ș?C?̬?433fP?LR?|?433fP?LR?̬?4333?C?̬?433a?LR?̬?433?LR?|?433Zm?LR?̬?433SP?LR?|?533U?LR?|?533R?C?̬?533R?C?̬?533M?LR?|?533K?LR?̬?533?LR?,?4333?LR?l?433a?LR?,?433S?LR?l?433Zm?C?,?433Zm?LR?l?433W?LR?l?533U?C?,?533U?LR?,?533?C?,?533R?C?,?533K?LR?,?533?C?̬ ?433k?C?̬ ?433i?LR?̬ ?4333?C?̬ ?433d?LR?̬ ?433Sl?LR??433d?LR?̬ ?433?C?̬ ?433a?LR??433_?C?̬ ?433_?LR??433\4?C?̬ ?433Zm?LR?̬ ?433SP?LR??433W?LR?̬ ?433؉?C?̬ ?533U?LR?̬ ?533S?LR?̬ ?533?C?̬ ?533M?C?̬ ?533K?LR??533K?LR?̬ ?533Ș?C?̬ ?533H?LR??533H?LR?̬ ?533?LR?̬ ?533S?LR?l'?433k?LR?,D?433?LR?,D?433S?LR?,D?4333?C?,D?433fP?LR?l'?433d?LR?l'?433Zm?C?,D?433W?LR?l'?533U?C?,D?533U?LR?l'?533K?LR?,D?533S?C?,D?533F5?LR?̬}?433?C?̬}?433i?LR?̬}?433S?LR?̬}?4333?C?`?4333?C?̬}?433fP?LR?`?433d?LR?̬}?433Sl?LR?̬}?433?C?̬}?433\4?LR?`?433Zm?LR?̬}?433SP?C?̬}?433Zm?LR?̬}?433؉?LR?`?533U?LR?̬}?533S?C?̬}?533R?LR?̬}?533?C?̬}?533PQ?LR?̬}?533m?LR?`?533M?LR?̬}?533Ș?C?̬}?533F5?LR?`?533F5?LR?̬}?533Q?LR?l?433k?LR?l?433fP?LR?l?433a?LR?l?433_?LR?l?433\4?LR?l?433W?LR?l?533R?LR?l?533PQ?LR?l?533K?LR?l?533H?LR?l?533F5?̬?`?YO?533U?̬?`?YJ?433i? n?L?433i? n?YJ?433S? n?YJ?4333?̬?`?YJ?433W?̬?`?YEj?433i? n?YEj?433S? n?G1?433fP?̬?`?YEj?433fP?̬?`?YEj?433d? n?G1?433d? n?YEj?433?̬?`?YEj?433Zm?̬?`?YEj?433W?̬?`?Y@?433i? n?Y@?433S?̬?`?Y@?433d? n?Y@?433?̬?`?Y@?433Zm?̬?`?Y@?433W?̬?`?̬'?433i? n? +?433i? n?̬'?4333?̬?`?̬'?433fP? n?̬'?433?̬?`?̬'?433a?̬?`?̬'?433Zm?̬?`?̬'?433W?̬?`?̬'?533M? n?,`?433S?̬?`?,`?433i? n?lC?433i?̬?`?,`?433fP?̬?`?,`?433a? n?lC?433a? n?,`?433S?̬?`?,`?433W? n?lC?533PQ? n?,`?533S4? n?lC?533M? n?,`?533Ș? n?|?433i? n?̬?4333? n?̬?433? n?|?433a?̬?`?̬?433Zm?̬?`?̬?433W?̬?`?̬?533U?̬?`?̬?533R? n?|?533PQ?̬?`?̬?533PQ? n?̬?533m?̬?`?̬?533K? n?̬?533Ș? n?,?4333?̬?`?,?433d? n?,?433Sl? n?l?433d? n?l?433a? n?,?433? n?,?433S? n?l?533R? n?,?533? n?l?533PQ?̬?`?,?533K? n?,?533Ș?̬?`?̬ ?433i? n??433i? n?̬ ?433S? n?̬ ?4333? n??433fP?̬?`?̬ ?433fP?̬?`?̬ ?433d? n?̬ ?433Sl? n??433d? n??433_?̬?`?̬ ?433\4? n?̬ ?433? n??433Zm? n?̬ ?433SP?̬?`?̬ ?433Zm?̬?`?̬ ?433W? n?̬ ?433؉? n??533U? n?̬ ?533S?̬?`?̬ ?533U? n?̬ ?533? n??533R?̬?`?̬ ?533R? n?̬ ?533S4?̬?`?̬ ?533M? n?̬ ?533m? n??533M?̬?`?̬ ?533K? n?̬ ?533Ș? n??533K? n?̬ ?533?̬?`?̬ ?533H? n?l'?433k? n?,D?433?̬?`?,D?433i? n?l'?433fP?̬?`?,D?433\4? n?,D?433? n?,D?433SP? n?l'?433W? n?l'?533R? n?,D?533S4?̬?`?,D?533PQ? n?l'?533PQ? n?l'?533M? n?,D?533m?̬?`?,D?533K? n?l'?533K? n?,D?533Ș?̬?`?,D?533H? n?l'?533F5? n?,D?533S?̬?`?,D?533F5? n?,D?533Q? n?`?433k?̬?`?̬}?433k? n?`?433i? n?̬}?4333? n?̬}?433Sl? n?`?433d? n?`?433a?̬?`?̬}?433a? 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+?533M?L?̬'?533m?컵?̬'?533K?L? +?533K?L?̬'?533?L?lC?433k?컵?,`?433i?L?,`?4333?L?,`?433?컵?,`?533M?L?,`?533m?L?lC?533H?L?,`?533S?L?|?433i?L?̬?433S?컵?̬?433d?L?̬?433Sl?L?|?433d?L?̬?533m?컵?̬?533K?L?|?533H?L?̬?533?컵?̬?533H?L?l?433i?L?,?4333?컵?,?433d?L?l?433d?L?,?433?컵?,?533PQ?L?l?533PQ?L?,?533S4?L?,?533Ș?컵?,?533K?L?l?533K?L??433k?L?̬ ?433?컵?̬ ?433i?L?̬ ?433S?L?̬ ?4333?컵?̬ ?433a?L??433a?컵?̬ ?433_?L??433_?L?̬ ?433?컵?̬ ?433Zm?L??433Zm?L?̬ ?433SP?컵?̬ ?433W?L?̬ ?433؉?L??533U?L?̬ ?533S?컵?̬ ?533U?컵?̬ ?533R?L??533R?컵?̬ ?533PQ?L?̬ ?533S4?L??533PQ?L?̬ ?533m?컵?̬ ?533M?L??533K?L??533H?L??533F5?L?̬ 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eval/total_loss +num_fingers: 5 +num_segments: 10 +object_set_file: objects_set_a.json +optim_config_path: config/optimization_config/hand/no_com.yaml +patience: 15 +seed: 569 +stop_mode: min +topo_lr: 0.02 +zero_grad_dims: +- 8 +- 9 +- 10 +- 11 diff --git a/20260111_234840_nocom_hand_geo1e-2_topo2e-2_accum1_des1e-4_seed569/config.yaml b/20260111_234840_nocom_hand_geo1e-2_topo2e-2_accum1_des1e-4_seed569/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..776d9feb8b2d78d0a28a94e7cb87e6f663239c01 --- /dev/null +++ b/20260111_234840_nocom_hand_geo1e-2_topo2e-2_accum1_des1e-4_seed569/config.yaml @@ -0,0 +1,64 @@ +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: [ContactLoss,ThrowingObjectLoss] + loss_coefs: [2.0,1.0] + obj_x_mul: [0.,1.,0.] + com_x_mul: [5.,1.,5.] + obj_particle_id: 2 + + design_loss_types: ['FingerPenLoss','SelfFingerPenLoss'] + design_loss_coeffs: [0.01,0.25] + + seed: 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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: 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Z!Zf"\\"#]^g`]#g^agahha$hih$$c$ci'j&j*&1k0k306lj6j'm7*jm*lmjn87n7mo98o8np:9p9oq;:q:pr<;r;qs=<s<rs?=DtkDk1tH3t3kIuKuLKNl6lNPlPmmPRmRnnRTvnTonvvUVpvVovppVWpWqqWYwqYrqwwZ[sw[rwss[?`x_yb_y_xtDbytbztyzcHzHtduIudLevTveUfwYwfZgx`xghxhyyhiyizzic \ No newline at end of file diff --git a/20260111_234840_nocom_hand_geo1e-2_topo2e-2_accum1_des1e-4_seed569/softzoo/design/mesh_sampling_0_iter_40_batch_0.ply b/20260111_234840_nocom_hand_geo1e-2_topo2e-2_accum1_des1e-4_seed569/softzoo/design/mesh_sampling_0_iter_40_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..40754b9736ca9afce580b093fbce2d4c1b6d66fc --- /dev/null +++ b/20260111_234840_nocom_hand_geo1e-2_topo2e-2_accum1_des1e-4_seed569/softzoo/design/mesh_sampling_0_iter_40_batch_0.ply @@ -0,0 +1,121 @@ +ply +format binary_little_endian 1.0 +comment Created by Open3D +element vertex 1636 +property double x +property double y +property double z +element face 3420 +property list uchar uint vertex_indices +end_header +2?̬ ?433i?Yr??433i?Yr?̬ ?433?Yr?̬ ?433?2?̬ ?433S]?Yr??433S]?Yr?̬ ?433޼?Yr?̬ ?433?2?̬ ?533SS?Yr??533SS?Yr?̬ ?533Ԡ?2?̬ ?533P?Yr??533P?Yr?̬ ?533?2?̬ ?533Kh?Yr??533Kh?Yr?̬ ?533K?Yr?̬ ?533ʄ?2?,D?433Sl?Yr?l'?433Sl?Yr?,D?433f?2?,D?433i?Yr?l'?433Sg?2?,D?433Sg?Yr?,D?433?2?,D?433Sbg?Yr?l'?433Sbg?Yr?,D?433J?2?,D?433_?Yr?l'?433_?Yr?l'?433S]?Yr?,D?433޼?2?,D?433SXK?Yr?l'?433SXK?Yr?,D?433.?Yr?,D?533g?Yr?l'?533SS?Yr?,D?533?2?,D?533P?Yr?,D?533?2?,D?533Kh?Yr?,D?533K?Yr?l'?533SI?2?,D?533SI?Yr?,D?533Ƚ?Yr?`?433Sl?Yr?`?433i?Yr?`?433Sg?Yr?̬}?433?2?̬}?433d.?Yr?`?433d.?Yr?`?433Sbg?Yr?̬}?433J?Yr?̬}?433?2?̬}?433_?Yr?`?433S]?2?̬}?433S]?2?̬}?433Z?Yr?`?433Z?Yr?`?433SXK?Yr?̬}?433.?2?̬}?533P?Yr?̬}?533?Yr?̬}?533?Yr?`?533Kh?Yr?`?533SI?Yr?̬}?533Ƚ?2?̬}?533F?Yr?`?533F?Yr?̬}?533?Yr?l?433d.?Yr?l?433_?Yr?l?433S]?Yr?l?433Z?Yr?l?533P?Yr?l?533F??̬ ?433i??̬ ?433d.? +??433d.? +?̬ ?433??̬ ?433Sbg? +??433Sbg? +?̬ ?433??̬ ?433S]? +??433Z? +?̬ ?433??̬ ?433Z??̬ ?433SXK? +??433SXK? +?̬ ?533g? +??533SS? +?̬ ?533Ԡ??̬ ?533P? +?̬ ?533? +??533SN/? +?̬ ?533??̬ ?533SN/??̬ ?533Kh? +?̬ ?533K??,D?433nJ? +?l'?433nJ? +?,D?433-? +?l'?433Sl? +?l'?433i? +?l'?433Sg??,D?433d.??,D?433Sbg? +?,D?433J? +?l'?433Sbg? +?,D?433? +?l'?433_??,D?433S]? +?l'?433S]??,D?433Z??,D?533U? +?l'?533U??,D?533SS? +?l'?533P??,D?533SN/??,D?533Kh? +?,D?533K? +?l'?533SI? +?,D?533ʄ??,D?533F? +?l'?533F? +?,D?533? +?`?433nJ??̬}?433Sl? +?̬}?433f??̬}?433i??̬}?433Sg? +?`?433Sbg??̬}?433Sbg? +?̬}?433޼??̬}?433S]? +?`?433S]? +?̬}?433??̬}?433SXK? +?̬}?533g? +?`?533U? +?`?533SS? +?`?533P??̬}?533P? +?`?533SN/? +?̬}?533ʄ??̬}?533SI? +?̬}?533? +?l?433Sl? +?l?433i? +?l?433Sg? +?l?433d.? +?l?433Sbg? +?l?433_? +?l?433Z? +?l?433SXK? +?l?533SI? +?l?533F?y0?̬'?433Z?o'? +?433Z?o'?̬'?433?o'?̬'?433.?o'?lC?433Z?o'?,`?433.?y0?,`?433SXK?o'?lC?433SXK?o'?,`?533g?y0?̬?433S]?o'?|?433S]?o'?̬?433޼?y0?̬?433Z?o'?|?433Z?o'?|?433SXK?o'?̬?433.?y0?,?433S]?o'?,?433޼?o'?,?433?o'?l?433Z?o'?,?433.?y0?,?433SXK?o'?l?433SXK?o'?,?533g?y0?̬ ?433Sg?o'??433Sg?o'?̬ ?433?y0?̬ ?433d.?o'?̬ ?433?o'?̬ ?433J?o'??433Sbg?o'?̬ ?433?y0?̬ ?433S]?o'?̬ ?433޼?y0??433?o'?̬ ?433?y0?̬ ?433Z?o'?̬ ?433.?o'?̬ ?533g?o'??533SS?o'?̬ ?533Ԡ?y0?̬ ?533P?o'??533P?y0?̬ ?533SN/?o'?̬ ?533?y0?̬ ?533SI?o'??533SI?o'?̬ ?533ʄ?o'?̬ ?533Ƚ?o'?l'?433nJ?o'?,D?433-?o'?l'?433Sl?o'?l'?433i?o'?l'?433d.?y0?,D?433Sbg?o'?l'?433_?o'?l'?433Z?o'?l'?533U?o'?,D?533?y0?,D?533P?o'?l'?533P?o'?l'?533SN/?o'?,D?533?o'?l'?533Kh?y0?,D?533Kh?o'?,D?533Ƚ?y0?,D?533F?o'?`?433nJ?o'?̬}?433f?y0?̬}?433d.?o'?̬}?433?o'?`?433d.?o'?`?433Sbg?y0?̬}?433Sbg?o'?̬}?433?y0?̬}?433S]?y0?̬}?533U?y0?̬}?533SS?o'?̬}?533?o'?`?533SN/?o'?`?533Kh?o'?`?533SI?y0?̬}?533SI?o'?`?533F?o'?̬}?533Ƚ?o'?̬}?533?o'?l?433Sl?o'?l?433i?o'?l?433Sg?o'?l?433_?o'?l?433S]?o'?l?433Z?o'?l?433SXK?o'?l?533U?o'?l?533SS?o'?l?533F?95?YO?533SN/?C?QM?533SN/?C?YO?533?C?YO?533K?95?YJ?533P?C?L?533P?C?YJ?533?C?L?533SN/?C?YJ?533?95?YEj?533SS?C?G1?533SS?C?YEj?533Ԡ?95?YEj?533P?C?G1?533SN/?95?YEj?533SN/?C?YEj?533K?C?B?533SS?C?Y@?533?95?Y@?533P?95?Y@?533SN/?C?Y@?533K?95?̬'?433Z?95?̬'?533SS?C? +?533SS?C?̬'?533Ԡ?95?̬'?533P?95?̬'?533SN/?C?̬'?533K?95?,`?433S]?C?lC?433S]?C?,`?433޼?C?,`?433?C?,`?433.?C?lC?433SXK?C?,`?533g?C?lC?533SS?C?,`?533?95?,`?533P?C?,`?533?C?lC?533SN/?95?̬?433d.?C?|?433d.?C?̬?433?95?̬?433Sbg?C?|?433Sbg?C?̬?433?C?̬?433޼?C?̬?433?95?̬?433Z?95?̬?433SXK?C?̬?433.?C?̬?533g?95?̬?533SS?C?|?533SS?C?̬?533Ԡ?95?̬?533P?C?|?533SN/?95?̬?533SN/?C?̬?533K?95?,?433d.?C?,?433?95?,?433Sbg?C?,?433?C?l?433S]?95?,?433S]?95?,?433Z?C?,?433?C?l?433Z?C?,?533g?C?l?533SS?C?,?533?95?,?533P?95?,?533SN/?C?,?533K?95?̬ ?433Sl?C??433Sl?C?̬ ?433f?C?̬ ?433?95?̬ ?433Sg?C??433d.?C??433Sbg?95??433J?95?̬ ?433Sbg?C??433S]?C?̬ ?433޼?95?̬ ?433Z?C?̬ ?533g?C??533SS?C?̬ ?533Ԡ?C??533P?95?̬ ?533P?C?̬ ?533?95?̬ ?533SN/?C?̬ ?533?C??533Kh?95?̬ ?533Kh?95?̬ ?533SI?C?̬ ?533ʄ?95?,D?433nJ?C?l'?433Sl?95?,D?433Sl?C?,D?433?C?l'?433i?C?l'?433Sg?95?,D?433d.?C?,D?433?C?,D?433J?C?l'?433Sbg?C?l'?433_?95?,D?533U?C?,D?533g?C?,D?533Ԡ?95?,D?533P?C?l'?533P?C?,D?533?95?,D?533SN/?C?l'?533SN/?C?,D?533K?C?l'?533SI?C?,D?533Ƚ?C?̬}?433-?95?̬}?433nJ?C?`?433nJ?C?`?433Sl?95?̬}?433d.?C?`?433d.?C?̬}?433J?C?`?433Sbg?C?`?433_?95?̬}?433_?C?̬}?433޼?95?̬}?433Z?C?̬}?433?C?`?433Z?C?̬}?433.?C?`?533U?C?̬}?533?C?`?533P?95?̬}?533SN/?C?`?533SN/?C?̬}?533?C?̬}?533K?C?`?533Kh?C?`?533SI?95?̬}?533F?C?l?433nJ?C?l?433Sl?C?l?433i?C?l?433Sg?C?l?433d.?C?l?433S]?C?l?433SXK?C?l?533U?C?l?533SS?C?l?533SN/?-R?YO?533SS?Ym`?QM?533SS?Ym`?YO?533Ԡ?-R?YO?533P?Ym`?QM?533P?Ym`?QM?533SN/?Ym`?YO?533K?Ym`?L?533SS?Ym`?L?533P?-R?L?533?-R?YJ?533P?Ym`?YJ?533?-R?YJ?533SN/?Ym`?YJ?533K?Ym`?G1?533SS?Ym`?YEj?533Ԡ?Ym`?G1?533P?Ym`?YEj?533K?-R?Y@?533SS?Ym`?Y@?533Ԡ?Ym`?Y@?533K?-R?̬'?433d.?Ym`? +?433d.?Ym`?̬'?433?Ym`?̬'?433J?Ym`?̬'?533Ԡ?-R?̬'?533SN/?Ym`?̬'?533?Ym`? 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W VX"!X!WY#"Y"XZ$#Z#Y[%$[$Z\&%\%[\(&-]T-T]1]T2^4^547UU79U9VV9;V;WW;=_W=XW__>?Y_?X_YY?@Y@ZZ@B`ZB[Z``CD\`D[`\\D(IaHbKHbHa]-Kb]Kc]bcL1c1]M^2^M5N_=_N>O`B`OCPaIaPQaQbbQRbRccRL \ No newline at end of file diff --git a/20260111_234840_nocom_hand_geo1e-2_topo2e-2_accum1_des1e-4_seed569/softzoo/design/mesh_sampling_0_iter_48_batch_0.ply b/20260111_234840_nocom_hand_geo1e-2_topo2e-2_accum1_des1e-4_seed569/softzoo/design/mesh_sampling_0_iter_48_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..bfccae6bc63e12f8c0a54e64939fa630f5b27691 --- /dev/null +++ b/20260111_234840_nocom_hand_geo1e-2_topo2e-2_accum1_des1e-4_seed569/softzoo/design/mesh_sampling_0_iter_48_batch_0.ply @@ -0,0 +1,119 @@ +ply +format binary_little_endian 1.0 +comment Created by Open3D +element vertex 1621 +property double x +property double y +property double z +element face 3406 +property list uchar uint vertex_indices +end_header +2?̬ ?433i?Yr??433i?Yr?̬ ?433?Yr?̬ ?433?2?̬ ?433S]?Yr??433S]?Yr?̬ ?433޼?Yr?̬ ?433?2?̬ ?533SS?Yr??533SS?Yr?̬ ?533Ԡ?2?̬ ?533P?Yr??533P?Yr?̬ ?533?2?̬ ?533Kh?Yr??533Kh?Yr?̬ ?533K?Yr?̬ ?533ʄ?2?,D?433Sl?Yr?l'?433Sl?Yr?,D?433f?2?,D?433i?Yr?l'?433Sg?2?,D?433Sg?Yr?,D?433?2?,D?433Sbg?Yr?l'?433Sbg?Yr?,D?433J?2?,D?433_?Yr?l'?433_?Yr?l'?433S]?Yr?,D?433޼?2?,D?433SXK?Yr?l'?433SXK?Yr?,D?433.?Yr?,D?533g?Yr?l'?533SS?Yr?,D?533?2?,D?533P?Yr?,D?533?2?,D?533Kh?Yr?,D?533K?Yr?l'?533SI?2?,D?533SI?Yr?,D?533Ƚ?Yr?`?433Sl?Yr?`?433i?Yr?`?433Sg?Yr?̬}?433?2?̬}?433d.?Yr?`?433d.?Yr?`?433Sbg?Yr?̬}?433J?Yr?̬}?433?2?̬}?433_?Yr?`?433S]?2?̬}?433S]?2?̬}?433Z?Yr?`?433Z?Yr?`?433SXK?Yr?̬}?433.?2?̬}?533P?Yr?̬}?533?Yr?̬}?533?Yr?`?533Kh?Yr?`?533SI?Yr?̬}?533Ƚ?2?̬}?533F?Yr?`?533F?Yr?̬}?533?Yr?l?433d.?Yr?l?433_?Yr?l?433S]?Yr?l?433Z?Yr?l?533P?Yr?l?533F??̬ ?433i??̬ ?433d.? +??433d.? +?̬ ?433??̬ ?433Sbg? +??433Sbg? +?̬ ?433??̬ ?433S]? +??433Z? +?̬ ?433??̬ ?433Z??̬ ?433SXK? +??433SXK? +?̬ ?533g? +??533SS? +?̬ ?533Ԡ??̬ ?533P? +?̬ ?533? +??533SN/? +?̬ ?533??̬ ?533SN/??̬ ?533Kh? +?̬ ?533K??,D?433nJ? +?l'?433nJ? +?,D?433-? +?l'?433Sl? +?l'?433i? +?l'?433Sg??,D?433d.??,D?433Sbg? +?,D?433J? +?l'?433Sbg? +?,D?433? +?l'?433_??,D?433S]? +?l'?433S]??,D?433Z??,D?533U? +?l'?533U??,D?533SS? +?l'?533P??,D?533SN/??,D?533Kh? +?,D?533K? +?l'?533SI? +?,D?533ʄ??,D?533F? +?l'?533F? +?,D?533? +?`?433nJ??̬}?433Sl? +?̬}?433f??̬}?433i??̬}?433Sg? +?`?433Sbg??̬}?433Sbg? +?̬}?433޼??̬}?433S]? +?`?433S]? +?̬}?433??̬}?433SXK? +?̬}?533g? +?`?533U? +?`?533SS? +?`?533P??̬}?533P? +?`?533SN/? +?̬}?533ʄ??̬}?533SI? +?̬}?533? +?l?433Sl? +?l?433i? +?l?433Sg? +?l?433d.? +?l?433Sbg? +?l?433_? +?l?433Z? +?l?433SXK? +?l?533SI? +?l?533F?y0?̬?433S]?o'?|?433S]?o'?̬?433޼?y0?̬?433Z?o'?|?433Z?o'?̬?433.?y0?,?433S]?o'?,?433޼?o'?,?433?o'?l?433Z?o'?,?433.?y0?,?433SXK?o'?l?433SXK?o'?,?533g?y0?̬ ?433Sg?o'??433Sg?o'?̬ ?433?y0?̬ ?433d.?o'?̬ ?433?o'?̬ ?433J?o'??433Sbg?o'?̬ ?433?y0?̬ ?433S]?o'?̬ ?433޼?y0??433?o'?̬ ?433?y0?̬ ?433Z?o'?̬ ?433.?o'?̬ ?533g?o'??533SS?o'?̬ ?533Ԡ?y0?̬ ?533P?o'??533P?y0?̬ ?533SN/?o'?̬ ?533?y0?̬ ?533SI?o'??533SI?o'?̬ ?533ʄ?o'?̬ ?533Ƚ?o'?l'?433nJ?o'?,D?433-?o'?l'?433Sl?o'?l'?433i?o'?l'?433d.?y0?,D?433Sbg?o'?l'?433_?o'?l'?433Z?o'?l'?533U?o'?,D?533?y0?,D?533P?o'?l'?533P?o'?l'?533SN/?o'?,D?533?o'?l'?533Kh?y0?,D?533Kh?o'?,D?533Ƚ?y0?,D?533F?o'?`?433nJ?o'?̬}?433f?y0?̬}?433d.?o'?̬}?433?o'?`?433d.?o'?`?433Sbg?y0?̬}?433Sbg?o'?̬}?433?y0?̬}?433S]?y0?̬}?533U?y0?̬}?533SS?o'?̬}?533?o'?`?533SN/?o'?`?533Kh?o'?`?533SI?y0?̬}?533SI?o'?`?533F?o'?̬}?533Ƚ?o'?̬}?533?o'?l?433Sl?o'?l?433i?o'?l?433Sg?o'?l?433_?o'?l?433S]?o'?l?433Z?o'?l?433SXK?o'?l?533U?o'?l?533SS?o'?l?533F?95?YO?533SN/?C?QM?533SN/?C?YO?533?C?YO?533K?95?YJ?533P?C?L?533P?C?YJ?533?C?L?533SN/?C?YJ?533?95?YEj?533SS?C?G1?533SS?C?YEj?533Ԡ?95?YEj?533P?C?G1?533SN/?95?YEj?533SN/?C?YEj?533K?C?B?533SS?C?Y@?533?95?Y@?533P?95?Y@?533SN/?C?Y@?533K?95?̬'?533SS?C? +?533SS?C?̬'?533Ԡ?95?̬'?533P?95?̬'?533SN/?C?̬'?533K?95?,`?433S]?C?lC?433S]?C?,`?433޼?C?,`?433?C?lC?533SS?C?,`?533?95?,`?533P?C?,`?533?C?lC?533SN/?95?̬?433d.?C?|?433d.?C?̬?433?95?̬?433Sbg?C?|?433Sbg?C?̬?433?C?̬?433޼?C?̬?433?95?̬?433Z?C?|?433SXK?C?̬?433.?95?̬?433SXK?C?̬?533g?95?̬?533SS?C?|?533SS?C?̬?533Ԡ?95?̬?533P?C?|?533SN/?95?̬?533SN/?C?̬?533K?95?,?433d.?C?,?433?95?,?433Sbg?C?,?433?C?l?433S]?95?,?433S]?95?,?433Z?C?,?433?C?l?433Z?C?,?533g?C?l?533SS?C?,?533?95?,?533P?95?,?533SN/?C?,?533K?95?̬ ?433Sl?C??433Sl?C?̬ ?433f?C?̬ ?433?95?̬ ?433Sg?C??433d.?C??433Sbg?95??433J?95?̬ ?433Sbg?C??433S]?C?̬ ?433޼?95?̬ ?433Z?C?̬ ?533g?C??533SS?C?̬ ?533Ԡ?C??533P?95?̬ ?533P?C?̬ ?533?95?̬ ?533SN/?C?̬ ?533?C??533Kh?95?̬ ?533Kh?95?̬ ?533SI?C?̬ ?533ʄ?95?,D?433nJ?C?l'?433Sl?95?,D?433Sl?C?,D?433?C?l'?433i?C?l'?433Sg?95?,D?433d.?C?,D?433?C?,D?433J?C?l'?433Sbg?C?l'?433_?95?,D?533U?C?,D?533g?C?,D?533Ԡ?95?,D?533P?C?l'?533P?C?,D?533?95?,D?533SN/?C?l'?533SN/?C?,D?533K?C?l'?533SI?C?,D?533Ƚ?C?̬}?433-?95?̬}?433nJ?C?`?433nJ?C?`?433Sl?95?̬}?433d.?C?`?433d.?C?̬}?433J?C?`?433Sbg?C?`?433_?95?̬}?433_?C?̬}?433޼?95?̬}?433Z?C?̬}?433?C?`?433Z?C?̬}?433.?C?`?533U?C?̬}?533?C?`?533P?95?̬}?533SN/?C?`?533SN/?C?̬}?533?C?̬}?533K?C?`?533Kh?C?`?533SI?95?̬}?533F?C?l?433nJ?C?l?433Sl?C?l?433i?C?l?433Sg?C?l?433d.?C?l?433S]?C?l?433SXK?C?l?533U?C?l?533SS?C?l?533SN/?-R?YO?533SS?Ym`?QM?533SS?Ym`?YO?533Ԡ?-R?YO?533P?Ym`?QM?533P?Ym`?QM?533SN/?Ym`?YO?533K?Ym`?L?533SS?Ym`?L?533P?-R?L?533?-R?YJ?533P?Ym`?YJ?533?-R?YJ?533SN/?Ym`?YJ?533K?Ym`?G1?533SS?Ym`?YEj?533Ԡ?Ym`?G1?533P?Ym`?YEj?533K?-R?Y@?533SS?Ym`?Y@?533Ԡ?Ym`?Y@?533K?-R?̬'?433d.?Ym`? +?433d.?Ym`?̬'?433?Ym`?̬'?433J?Ym`?̬'?533Ԡ?-R?̬'?533SN/?Ym`?̬'?533?Ym`? +?533SN/?-R?,`?433d.?Ym`?,`?433?Ym`?,`?433J?Ym`?lC?433S]?Ym`?,`?433޼?-R?,`?433Z?Ym`?lC?433Z?Ym`?,`?433.?-R?,`?533SS?Ym`?,`?533Ԡ?-R?,`?533SN/?Ym`?lC?533SN/?-R?lC?533K?Ym`?lC?533Kh?-R?,`?533Kh?Ym`?,`?533ʄ?-R?̬?433Sg?Ym`?|?433Sg?Ym`?̬?433?Ym`?|?433Sbg?Ym`?̬?433?Ym`?|?433S]?-R?̬?433S]?Ym`?̬?433?-R?̬?433Z?-R?|?433.?Ym`?̬?433.?-R?̬?433SXK?Ym`?̬?533Ԡ?Ym`?̬?533?-R?̬?533SN/?Ym`?|?533SN/?Ym`?|?533Kh?-R?|?533K?-R?,?433Sg?Ym`?,?433?Ym`?,?433?Ym`?,?433?Ym`?l?433SXK?Ym`?,?533g?-R?,?533SS?Ym`?,?533Ԡ?Ym`?l?533SN/?Ym`?l?533Kh?-R?,?533Kh?Ym`?,?533ʄ?Ym`??433Sl?Ym`?̬ ?433f?-R?̬ ?433i?Ym`??433i?-R?̬ ?433Sg?-R?̬ ?433d.?-R?̬ ?433Sbg?Ym`??433_?-R?̬ ?433_?Ym`??433S]?Ym`??433Z?-R?̬ ?433Z?Ym`?̬ ?433?Ym`??433SXK?-R?̬ ?433SXK?-R?̬ ?533U?Ym`??533U?Ym`?̬ ?533g?Ym`?̬ ?533?Ym`??533P?Ym`?̬ ?533?Ym`?̬ ?533K?-R?̬ ?533Kh?Ym`??533Kh?-R?̬ ?533SI?Ym`??533SI?Ym`?̬ ?533ʄ?Ym`?̬ ?533Ƚ?-R?,D?433nJ?Ym`?l'?433nJ?Ym`?,D?433-?-R?,D?433Sl?-R?,D?433d.?-R?,D?433_?Ym`?,D?433?Ym`?l'?433_?Ym`?,D?433޼?Ym`?l'?433Z?Ym`?l'?433SXK?-R?,D?533U?Ym`?l'?533P?-R?,D?533SN/?Ym`?l'?533Kh?-R?,D?533F?Ym`?l'?533F?Ym`?,D?533?-R?̬}?433nJ?Ym`?`?433nJ?Ym`?̬}?433f?Ym`?`?433i?-R?̬}?433i?Ym`?̬}?433?Ym`?`?433Sg?-R?̬}?433Sg?Ym`?`?433d.?-R?̬}?433d.?Ym`?̬}?433J?-R?̬}?433Sbg?Ym`?̬}?433?Ym`?`?433S]?-R?̬}?433S]?Ym`?`?433Z?Ym`?`?433SXK?-R?̬}?433SXK?Ym`?`?533U?-R?̬}?533U?Ym`?̬}?533Ԡ?-R?̬}?533P?Ym`?̬}?533K?Ym`?`?533Kh?-R?̬}?533SI?Ym`?̬}?533ʄ?-R?̬}?533F?Ym`?̬}?533?Ym`?l?433Sl?Ym`?l?433Sbg?Ym`?l?533SS?Ym`?l?533P?Ym`?l?533SN/?Ym`?l?533SI?Ym`?l?533F?n?YO?533SS?|?YO?533?|?QM?533P?n?YO?533SN/?|?YO?533?|?L?533P?n?YJ?533SN/?n?YEj?533SS?|?YEj?533?|?G1?533P?|?G1?533SN/?|?YEj?533K?|?B?533SS?|?Y@?533Ԡ?n?Y@?533SN/?|?Y@?533?|?B?533SN/?n?̬'?433d.?|? +?533SS?n?̬'?533SS?|? +?533P?n?̬'?533P?|?lC?433d.?|?,`?433?|?lC?433Sbg?n?,`?433Sbg?|?,`?433?n?,`?433S]?n?,`?433Z?|?lC?533SS?|?,`?533Ԡ?|?lC?533P?|?lC?533SN/?n?,`?533Kh?|?,`?533K?|?|?433Sg?|?̬?433?|?̬?433J?n?̬?433Sbg?|?|?433Sbg?n?̬?433Z?|?|?533SS?n?̬?533SS?|?̬?533?|?̬?533?|?|?533SN/?|?l?433Sg?n?,?433Sg?|?,?433?|?l?433Sbg?|?,?433?n?,?433Z?n?,?433SXK?n?,?533SS?|?,?533?|?l?533SN/?n?,?533Kh?|?,?533K?|??433Sl?|?̬ ?433f?|??433i?n?̬ ?433Sg?|?̬ ?433?|?̬ ?433?n?̬ ?433_?|?̬ ?433?n?̬ ?433S]?|?̬ ?533g?|??533U?|??533SS?n?̬ ?533P?|??533SN/?|?̬ ?533?n?̬ ?533SN/?n?̬ ?533Kh?|?̬ ?533K?|??533Kh?|??533SI?|?̬ 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W?Yr?? W?Yr?̬ ?Lء?2?̬ ?̌T?Yr??̌T?Yr?̬ ?L?2?̬ ?̌Oi?Yr??̌Oi?Yr?̬ ?L?2?̬ ? M?Yr?? M?Yr?̬ ?˾?2?,D? p?Yr?l'? p?Yr?,D?Lg?2?,D?̌m?Yr?l'? k?2?,D? k?Yr?,D??2?,D? fh?Yr?l'? fh?Yr?,D?LK?2?,D?̌c?Yr?l'?̌c?Yr?l'? a?Yr?,D?L?2?,D? \L?Yr?l'? \L?Yr?,D?L/?Yr?,D?h?Yr?l'? W?Yr?,D??2?,D?̌T?Yr?,D?L?2?,D?̌Oi?Yr?,D?L?Yr?,D?L΅?Yr?l'? M?Yr?`? p?Yr?`?̌m?Yr?`? k?Yr?̬}??2?̬}?̌h/?Yr?`?̌h/?Yr?`? fh?Yr?̬}?LK?Yr?̬}??2?̬}?̌c?Yr?`? a?2?̬}? a?2?̬}?̌^?Yr?`?̌^?Yr?`? \L?Yr?̬}?L/?2?̬}?̌T?Yr?̬}??Yr?̬}?L?Yr?`?̌Oi?2?̬}?̌J?Yr?`?̌J?Yr?̬}?˾?Yr?̬}?L?Yr?l?̌h/?Yr?l?̌c?Yr?l? a?Yr?l?̌^?Yr?l?̌T?Yr?l?̌J??̬ ?̌m??̬ ?̌h/? +??̌h/? +?̬ ???̬ ? fh? +?? fh? +?̬ ???̬ ? a? +??̌^? +?̬ ???̬ ?̌^??̬ ? \L? +?? \L? +?̬ ?h? +?? W? +?̬ ?Lء??̬ ?̌T? +?̬ ?? +?? R0? +?̬ ?L??̬ ? R0??̬ ?̌Oi? +?̬ ?L??̬ ? M??,D?̌rK? +?l'?̌rK? +?,D?.? +?l'? p? +?l'?̌m? +?l'? k??,D?̌h/??,D? fh? +?,D?LK? +?l'? fh? +?,D?? +?l'?̌c??,D? a? +?l'? a??,D?̌^??,D?̌Y? +?l'?̌Y??,D? W? +?,D???,D?̌T? +?,D?L??,D? R0??,D?̌Oi? +?,D?L??,D? M? +?l'? M? +?,D?L΅??l'?˾? +?l'?̌J??,D?̌J? +?,D?L? +?`?̌rK??̬}? p? +?̬}?Lg??̬}?̌m??̬}? k? +?`? fh??̬}? fh? +?̬}?L??̬}? a? +?`? a? +?̬}???̬}? \L? +?̬}?h? +?`?̌Y? +?`? W??̬}?̌T? +?`? R0? +?̬}?L΅??`?L΅??̬}? M? +?̬}?L? +?l? p? +?l?̌m? +?l? k? +?l?̌h/? +?l? fh? +?l?̌c? +?l?̌^? +?l? \L? +?l? M? +?l?̌J?y0?̬? a?o'?|? a?o'?̬?L?y0?̬?̌^?o'?|?̌^?o'?̬?L/?y0?,? a?o'?,?L?o'?,??o'?l?̌^?o'?,?L/?y0?,? \L?o'?l? \L?o'?,?h?y0?̬ ? k?o'?? k?o'?̬ ?L?y0?̬ ?̌h/?o'?̬ ??o'?̬ ?LK?o'?? fh?o'?̬ ??y0?̬ ? a?o'?̬ ?L?y0???o'?̬ ??y0?̬ ?̌^?o'?̬ ?L/?o'?̬ ?h?o'?? W?o'?̬ ?Lء?y0?̬ ?̌T?o'??̌T?y0?̬ ? R0?o'?̬ ?L?y0?̬ ? M?o'?? M?o'?̬ ?L΅?o'?̬ ?˾?o'?l'?̌rK?o'?,D?.?o'?l'? p?o'?l'?̌m?o'?l'?̌h/?y0?,D? fh?o'?l'?̌c?o'?l'?̌^?o'?l'?̌Y?o'?,D??o'?l'?̌T?o'?,D?L?o'?l'? R0?o'?l'?̌Oi?y0?,D?̌Oi?o'?,D?˾?y0?,D?̌J?o'?`?̌rK?o'?̬}?Lg?y0?̬}?̌h/?o'?̬}??o'?`?̌h/?o'?`? fh?y0?̬}? fh?o'?̬}??y0?̬}? a?y0?̬}?̌Y?y0?̬}? W?o'?̬}??o'?`? R0?o'?`?̌Oi?o'?̬}?L΅?o'?`?̌J?o'?̬}?L?o'?l? p?o'?l?̌m?o'?l? k?o'?l?̌c?o'?l? a?o'?l?̌^?o'?l? \L?o'?l?̌Y?o'?l? W?o'?l? M?o'?l?̌J?95?YO? 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