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20260117_102653_nopen_gumbel_prompt_hand_geo2e-2_topo2e-2_accum3_seed564/cmd_config.yaml

@@ -0,0 +1,34 @@
+accum_grad_sim: 3
+desc_prompt: base.txt
+designer_scale: 1.0
+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: nopen_gumbel_prompt_hand_geo2e-2_topo2e-2_accum3
+fixed_v_file: gripping_5_HTP.json
+geometry_lr: 0.02
+grad_clipping: 0.1
+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: 1200
+min_delta: 0.0
+monitor_metric: eval/sim_loss
+num_fingers: 5
+num_segments: 10
+object_set_file: objects_set_a_1.json
+optim_config_path: config/optimization_config/hand2/pen_angle_prompt.yaml
+patience: 10
+seed: 564
+stop_mode: min
+topo_lr: 0.02
+viewpoint:
+- -1.0
+- -0.25
+- -0.1
+zero_grad_dims:
+- 8
+- 9
+- 10
+- 11

20260117_102653_nopen_gumbel_prompt_hand_geo2e-2_topo2e-2_accum3_seed564/config.yaml

@@ -0,0 +1,66 @@
+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
+  desc_prompt: base.txt
+  viewpoint: [-1.,-0.25,-0.1]
+  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: [1.e-4,1.e-5,1.0]
+  obj_x_mul: [0.,1.,0.]
+  com_x_mul: [1.,2.,1.]
+  obj_particle_id: 2
+
+  design_loss_types:  ['FingerPenLoss','SelfFingerPenLoss','CLIPLoss','AngleLoss']
+  design_loss_coeffs: [0.5,1.0,1.e-4,0.1]
+
+  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

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+    "action_v_strength": 0.35,
+    "active": true,
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+        0.5,
+        1.0,
+        0.0001,
+        0.1
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+    "design_loss_types": [
+        "FingerPenLoss",
+        "SelfFingerPenLoss",
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+        "AngleLoss"
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+    "designer_type": "mlp",
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+    "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,
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+        1.0
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+        "actuator",
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+        "suction_val"
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+}

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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: asset/obj_placeholder/bottle.obj
+    ground_height: 0.101
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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:
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+      - 0.4
+      initial_velocity:
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+      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:
+      - 0.11
+      - 0.09
+      - 0.11
+      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