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b/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 diff --git a/20260117_102653_nopen_gumbel_prompt_hand_geo2e-2_topo2e-2_accum3_seed564/config.yaml b/20260117_102653_nopen_gumbel_prompt_hand_geo2e-2_topo2e-2_accum3_seed564/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..3af6896682aa3c502726041a66457e8974fc53c1 --- /dev/null +++ b/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 diff --git a/20260117_102653_nopen_gumbel_prompt_hand_geo2e-2_topo2e-2_accum3_seed564/embeddings/gripper_idx0_design_0.02471938729286194_sim_0.0007225334396100478.npz b/20260117_102653_nopen_gumbel_prompt_hand_geo2e-2_topo2e-2_accum3_seed564/embeddings/gripper_idx0_design_0.02471938729286194_sim_0.0007225334396100478.npz new file mode 100644 index 0000000000000000000000000000000000000000..f2c436d3beefde393cfc169d3036ee39879dd508 --- /dev/null +++ b/20260117_102653_nopen_gumbel_prompt_hand_geo2e-2_topo2e-2_accum3_seed564/embeddings/gripper_idx0_design_0.02471938729286194_sim_0.0007225334396100478.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid 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b/20260117_102802_nopen_nogumbel_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_nogumbel_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: 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/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 diff --git a/20260117_102802_nopen_nogumbel_prompt_hand_geo2e-2_topo2e-2_accum3_seed564/config.yaml 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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: 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"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 + ], + "viewpoint": [ + -1.0, + -0.25, + -0.1 + ], + "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/20260117_102802_nopen_nogumbel_prompt_hand_geo2e-2_topo2e-2_accum3_seed564/softzoo/ckpt/env_config.yaml b/20260117_102802_nopen_nogumbel_prompt_hand_geo2e-2_topo2e-2_accum3_seed564/softzoo/ckpt/env_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..645fc916030031c3f103ef622951bf24b3cf4fa2 --- /dev/null +++ b/20260117_102802_nopen_nogumbel_prompt_hand_geo2e-2_topo2e-2_accum3_seed564/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: asset/obj_placeholder/bottle.obj + ground_height: 0.101 + initial_position: + - 0.55 + - 0.0 + - 0.4 + initial_rotation: + - 0.5 + - 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gripping_5_HTP.json +geometry_lr: 0.01 +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: 45334 +stop_mode: min +topo_lr: 0.02 +viewpoint: +- -1.0 +- -0.25 +- -0.1 +zero_grad_dims: +- 8 +- 9 +- 10 +- 11 diff --git a/20260117_110818_nopen_gumbel_prompt_hand_geo1e-2_topo2e-2_accum3_seed45334/config.yaml b/20260117_110818_nopen_gumbel_prompt_hand_geo1e-2_topo2e-2_accum3_seed45334/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..3af6896682aa3c502726041a66457e8974fc53c1 --- /dev/null +++ b/20260117_110818_nopen_gumbel_prompt_hand_geo1e-2_topo2e-2_accum3_seed45334/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 diff --git 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+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: 45334 +stop_mode: min +topo_lr: 0.01 +viewpoint: +- -1.0 +- -0.25 +- -0.1 +zero_grad_dims: +- 8 +- 9 +- 10 +- 11 diff --git a/20260117_152601_nopen_nogumbel_prompt_hand_geo1e-2_topo1e-2_accum3_seed45334/config.yaml b/20260117_152601_nopen_nogumbel_prompt_hand_geo1e-2_topo1e-2_accum3_seed45334/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..3af6896682aa3c502726041a66457e8974fc53c1 --- /dev/null +++ b/20260117_152601_nopen_nogumbel_prompt_hand_geo1e-2_topo1e-2_accum3_seed45334/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] + 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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": [ + 1.0, + 2.0, + 1.0 + ], + "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, + "desc_prompt": "base.txt", + "design_device": "cpu", + "design_loss_coeffs": [ + 0.5, + 1.0, + 0.0001, + 0.1 + ], + "design_loss_types": [ + "FingerPenLoss", + "SelfFingerPenLoss", + "CLIPLoss", + "AngleLoss" + ], + "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": [ + 0.0001, + 1e-05, + 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_1.json", + "optimize_controller": true, + "optimize_design_types": [ + "geometry", + "softness_E", + "softness_v", + "suction_val" + ], + "optimize_designer": true, + "out_dir": "./logs/20260117_152601_nopen_nogumbel_prompt_hand_geo1e-2_topo1e-2_accum3_seed45334/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 + ], + "viewpoint": [ + -1.0, + -0.25, + -0.1 + ], + "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/20260117_152601_nopen_nogumbel_prompt_hand_geo1e-2_topo1e-2_accum3_seed45334/softzoo/ckpt/env_config.yaml b/20260117_152601_nopen_nogumbel_prompt_hand_geo1e-2_topo1e-2_accum3_seed45334/softzoo/ckpt/env_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..645fc916030031c3f103ef622951bf24b3cf4fa2 --- /dev/null +++ b/20260117_152601_nopen_nogumbel_prompt_hand_geo1e-2_topo1e-2_accum3_seed45334/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: asset/obj_placeholder/bottle.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: + - 0.11 + - 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: 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https://git-lfs.github.com/spec/v1 +oid sha256:e83358873856a788e49446cb38106b300e414cacb00370b71267b396349db968 +size 960706 diff --git a/debug_server/config.yaml b/debug_server/config.yaml index 2d08c58e76b4615f58156e710bd8bf592c1a57c6..fb943a5f2a47f49551257b871166a922000d90b0 100644 --- a/debug_server/config.yaml +++ b/debug_server/config.yaml @@ -25,7 +25,7 @@ softzoo_config: 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 + env_config_file: debug_server.yaml # Placeholder, need to be inserted manually layout_config_file: hand.json desc_prompt: base.txt viewpoint: [-1.,-0.25,-0.1] diff --git a/debug_server/softzoo/Ep_Batch_-1_Sampling_-001_Local_0000.mp4 b/debug_server/softzoo/Ep_Batch_-1_Sampling_-001_Local_0000.mp4 index 632c34755cb401e8e3d6698078d23ceed43a38bf..41881e30d152fa903d3c935dde0813463bc23ea1 100644 --- a/debug_server/softzoo/Ep_Batch_-1_Sampling_-001_Local_0000.mp4 +++ b/debug_server/softzoo/Ep_Batch_-1_Sampling_-001_Local_0000.mp4 @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:0e9c449c9d9f162a60319b6d1a4296c64c449a9b7a0e24b93b52a593fce5c936 -size 435592 +oid sha256:b7b4ccb6278d74a7c6676f3f62d9dc3bf221c94972a2c7aef050e7aeedfa263b +size 432559 diff --git a/debug_server/softzoo/ckpt/args.json b/debug_server/softzoo/ckpt/args.json index 34de481d6d0eec2279bde2616313ad8e486e6e5a..d0c193c163c6b84e9fb7ac92c9432bb763148465 100644 --- a/debug_server/softzoo/ckpt/args.json +++ b/debug_server/softzoo/ckpt/args.json @@ -78,7 +78,7 @@ "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", + "env_config_file": "debug_server.yaml", "eval": false, "final_target_idx": null, "fixed_v": "gripping_5_HTP.json", diff --git a/debug_server/softzoo/ckpt/env_config.yaml b/debug_server/softzoo/ckpt/env_config.yaml index 21f7a6c25f70b02c4491846a086c6c5aee04cef2..645fc916030031c3f103ef622951bf24b3cf4fa2 100644 --- a/debug_server/softzoo/ckpt/env_config.yaml +++ b/debug_server/softzoo/ckpt/env_config.yaml @@ -67,12 +67,12 @@ ENVIRONMENT: E_0: 7.5e+4 nu_0: 0.3 p_rho_0: 1000.0 - sample_density: 45 + sample_density: 42 semantic_id: 3 size: - - 0.1 - - 0.1 - - 0.1 + - 0.11 + - 0.09 + - 0.11 type: Primitive.Box initial_principle_direction: - 1.0