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#2
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  1. .gitattributes +0 -0
  2. 20260327_013723_pincer_geo_1e-3_topo_4e-2_accum2_seed4324/cmd_config.yaml +32 -0
  3. 20260327_013723_pincer_geo_1e-3_topo_4e-2_accum2_seed4324/config.yaml +70 -0
  4. 20260327_013723_pincer_geo_1e-3_topo_4e-2_accum2_seed4324/embeddings/gripper_idx0_design_0.06674758344888687_sim_-1.3654058676301522e-06.npz +3 -0
  5. 20260327_013723_pincer_geo_1e-3_topo_4e-2_accum2_seed4324/embeddings/gripper_idx108_design_7.731603545835242e-05_sim_-1.3707167825156893e-05.npz +3 -0
  6. 20260327_013723_pincer_geo_1e-3_topo_4e-2_accum2_seed4324/embeddings/gripper_idx120_design_7.741670560790226e-05_sim_-1.378727211887206e-05.npz +3 -0
  7. 20260327_013723_pincer_geo_1e-3_topo_4e-2_accum2_seed4324/embeddings/gripper_idx12_design_0.050081029534339905_sim_-1.7237701880930842e-06.npz +3 -0
  8. 20260327_013723_pincer_geo_1e-3_topo_4e-2_accum2_seed4324/embeddings/gripper_idx132_design_7.770149386487901e-05_sim_-1.3987985382645451e-05.npz +3 -0
  9. 20260327_013723_pincer_geo_1e-3_topo_4e-2_accum2_seed4324/embeddings/gripper_idx144_design_7.773018296575174e-05_sim_-1.3686393177343463e-05.npz +3 -0
  10. 20260327_013723_pincer_geo_1e-3_topo_4e-2_accum2_seed4324/embeddings/gripper_idx156_design_7.779165753163397e-05_sim_-1.3623127052053446e-05.npz +3 -0
  11. 20260327_013723_pincer_geo_1e-3_topo_4e-2_accum2_seed4324/embeddings/gripper_idx24_design_0.050080567598342896_sim_-1.7813835229364357e-06.npz +3 -0
  12. 20260327_013723_pincer_geo_1e-3_topo_4e-2_accum2_seed4324/embeddings/gripper_idx36_design_0.05008062720298767_sim_-1.793355592650624e-06.npz +3 -0
  13. 20260327_013723_pincer_geo_1e-3_topo_4e-2_accum2_seed4324/embeddings/gripper_idx48_design_0.0500803217291832_sim_-1.7531837100932714e-06.npz +3 -0
  14. 20260327_013723_pincer_geo_1e-3_topo_4e-2_accum2_seed4324/embeddings/gripper_idx60_design_0.033412326127290726_sim_-1.3299440003986375e-05.npz +3 -0
  15. 20260327_013723_pincer_geo_1e-3_topo_4e-2_accum2_seed4324/embeddings/gripper_idx72_design_0.03341253474354744_sim_-1.3165649551444312e-05.npz +3 -0
  16. 20260327_013723_pincer_geo_1e-3_topo_4e-2_accum2_seed4324/embeddings/gripper_idx84_design_0.016745639964938164_sim_-1.3267460523741419e-05.npz +3 -0
  17. 20260327_013723_pincer_geo_1e-3_topo_4e-2_accum2_seed4324/embeddings/gripper_idx96_design_7.73801002651453e-05_sim_-1.3712395893386375e-05.npz +3 -0
  18. 20260327_013723_pincer_geo_1e-3_topo_4e-2_accum2_seed4324/softzoo/Ep_Batch_-1_Sampling_0000_Local_0000/frame_00161.ply +3 -0
  19. 20260327_013723_pincer_geo_1e-3_topo_4e-2_accum2_seed4324/softzoo/Ep_Batch_-1_Sampling_0000_Local_0000/frame_00322.ply +3 -0
  20. 20260327_013723_pincer_geo_1e-3_topo_4e-2_accum2_seed4324/softzoo/Ep_Batch_-1_Sampling_0000_Local_0000/frame_00483.ply +3 -0
  21. 20260327_013723_pincer_geo_1e-3_topo_4e-2_accum2_seed4324/softzoo/Ep_Batch_-1_Sampling_0000_Local_0000/frame_00644.ply +3 -0
  22. 20260327_013723_pincer_geo_1e-3_topo_4e-2_accum2_seed4324/softzoo/Ep_Batch_-1_Sampling_0000_Local_0000/frame_00805.ply +3 -0
  23. 20260327_013723_pincer_geo_1e-3_topo_4e-2_accum2_seed4324/softzoo/Ep_Batch_-1_Sampling_0000_Local_0000/frame_00966.ply +3 -0
  24. 20260327_013723_pincer_geo_1e-3_topo_4e-2_accum2_seed4324/softzoo/Ep_Batch_-1_Sampling_0000_Local_0000/frame_01127.ply +3 -0
  25. 20260327_013723_pincer_geo_1e-3_topo_4e-2_accum2_seed4324/softzoo/Ep_Batch_-1_Sampling_0000_Local_0000/frame_01288.ply +3 -0
  26. 20260327_013723_pincer_geo_1e-3_topo_4e-2_accum2_seed4324/softzoo/Ep_Batch_-1_Sampling_0000_Local_0000/frame_01449.ply +3 -0
  27. 20260327_013723_pincer_geo_1e-3_topo_4e-2_accum2_seed4324/softzoo/Ep_Batch_-1_Sampling_0000_Local_0000/frame_01610.ply +3 -0
  28. 20260327_013723_pincer_geo_1e-3_topo_4e-2_accum2_seed4324/softzoo/Ep_Batch_-1_Sampling_0000_Local_0000/frame_01771.ply +3 -0
  29. 20260327_013723_pincer_geo_1e-3_topo_4e-2_accum2_seed4324/softzoo/Ep_Batch_-1_Sampling_0000_Local_0000/frame_01932.ply +3 -0
  30. 20260327_013723_pincer_geo_1e-3_topo_4e-2_accum2_seed4324/softzoo/Ep_Batch_-1_Sampling_0000_Local_0000/frame_02093.ply +3 -0
  31. 20260327_013723_pincer_geo_1e-3_topo_4e-2_accum2_seed4324/softzoo/Ep_Batch_-1_Sampling_0000_Local_0000/frame_02254.ply +3 -0
  32. 20260327_013723_pincer_geo_1e-3_topo_4e-2_accum2_seed4324/softzoo/Ep_Batch_-1_Sampling_0000_Local_0000/frame_02415.ply +3 -0
  33. 20260327_013723_pincer_geo_1e-3_topo_4e-2_accum2_seed4324/softzoo/Ep_Batch_-1_Sampling_0000_Local_0000/frame_02576.ply +3 -0
  34. 20260327_013723_pincer_geo_1e-3_topo_4e-2_accum2_seed4324/softzoo/Ep_Batch_-1_Sampling_0000_Local_0000/frame_02737.ply +3 -0
  35. 20260327_013723_pincer_geo_1e-3_topo_4e-2_accum2_seed4324/softzoo/Ep_Batch_-1_Sampling_0000_Local_0000/frame_02898.ply +3 -0
  36. 20260327_013723_pincer_geo_1e-3_topo_4e-2_accum2_seed4324/softzoo/Ep_Batch_-1_Sampling_0000_Local_0000/frame_03059.ply +3 -0
  37. 20260327_013723_pincer_geo_1e-3_topo_4e-2_accum2_seed4324/softzoo/Ep_Batch_-1_Sampling_0000_Local_0000/frame_03220.ply +3 -0
  38. 20260327_013723_pincer_geo_1e-3_topo_4e-2_accum2_seed4324/softzoo/Ep_Batch_-1_Sampling_0000_Local_0000/frame_03381.ply +3 -0
  39. 20260327_013723_pincer_geo_1e-3_topo_4e-2_accum2_seed4324/softzoo/Ep_Batch_-1_Sampling_0000_Local_0000/frame_03542.ply +3 -0
  40. 20260327_013723_pincer_geo_1e-3_topo_4e-2_accum2_seed4324/softzoo/Ep_Batch_-1_Sampling_0000_Local_0000/frame_03703.ply +3 -0
  41. 20260327_013723_pincer_geo_1e-3_topo_4e-2_accum2_seed4324/softzoo/Ep_Batch_-1_Sampling_0000_Local_0000/frame_03864.ply +3 -0
  42. 20260327_013723_pincer_geo_1e-3_topo_4e-2_accum2_seed4324/softzoo/Ep_Batch_-1_Sampling_0000_Local_0000/frame_04025.ply +3 -0
  43. 20260327_013723_pincer_geo_1e-3_topo_4e-2_accum2_seed4324/softzoo/Ep_Batch_-1_Sampling_0000_Local_0000/frame_04186.ply +3 -0
  44. 20260327_013723_pincer_geo_1e-3_topo_4e-2_accum2_seed4324/softzoo/Ep_Batch_-1_Sampling_0000_Local_0000/frame_04347.ply +3 -0
  45. 20260327_013723_pincer_geo_1e-3_topo_4e-2_accum2_seed4324/softzoo/Ep_Batch_-1_Sampling_0000_Local_0000/frame_04508.ply +3 -0
  46. 20260327_013723_pincer_geo_1e-3_topo_4e-2_accum2_seed4324/softzoo/Ep_Batch_-1_Sampling_0000_Local_0000/frame_04669.ply +3 -0
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  49. 20260327_013723_pincer_geo_1e-3_topo_4e-2_accum2_seed4324/softzoo/Ep_Batch_-1_Sampling_0000_Local_0000/frame_05152.ply +3 -0
  50. 20260327_013723_pincer_geo_1e-3_topo_4e-2_accum2_seed4324/softzoo/Ep_Batch_-1_Sampling_0000_Local_0000/frame_05313.ply +3 -0
.gitattributes CHANGED
The diff for this file is too large to render. See raw diff
 
20260327_013723_pincer_geo_1e-3_topo_4e-2_accum2_seed4324/cmd_config.yaml ADDED
@@ -0,0 +1,32 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ accum_grad_sim: 2
2
+ desc_prompt: base_perching_prompt.txt
3
+ designer_config_file: diff_conditioning/simulation_env/designer/encoded_finger/config/pincer.json
4
+ designer_scale: 1.0
5
+ designer_type: single
6
+ env_config: server_pinching.yaml
7
+ exp_name: pincer_geo_1e-3_topo_4e-2_accum2
8
+ fixed_v_file: pinching_grasp.json
9
+ geometry_lr: 0.001
10
+ grad_clipping: 0.1
11
+ gripper_dim: 12
12
+ gumbel: true
13
+ init_emb_path: asset/output/nature/pincer/pincer_0.npz
14
+ layout_config_file: pincer.json
15
+ max_epoch: 2400
16
+ min_delta: 0.0
17
+ monitor_metric: eval/sim_loss
18
+ num_fingers: 1
19
+ num_segments: 10
20
+ object_set_file: pinching.json
21
+ optim_config_path: config/optimization_config/pincer/pincer.yaml
22
+ patience: 100
23
+ seed: 4324
24
+ stop_mode: min
25
+ topo_lr: 0.04
26
+ viewpoint:
27
+ - -1.0
28
+ - -0.25
29
+ - -0.1
30
+ zero_grad_dims:
31
+ - 10
32
+ - 11
20260327_013723_pincer_geo_1e-3_topo_4e-2_accum2_seed4324/config.yaml ADDED
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+ exp_name: pincer
2
+ seed: &seed 22232
3
+ out_dir: ./logs/
4
+ tensorboard_log_dir: runs/
5
+ save_every_iter: &log_freq 12
6
+ total_steps: 512 # Check diffusion_cfg to see how many steps there are in diffusion (normal diffusion + upsampler)
7
+ substep_count: 1 # remember to update in diffusion config in pointe, under the k keys
8
+
9
+ cond_config:
10
+ - name: "SoftZoo_Sim"
11
+ grad_scale: !!float 1e6
12
+ grad_clamp: !!float 1e0
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+ calc_gradient: True
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+ logging_bool: True
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+ # - name: "Dist_To_Origin"
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+ # grad_scale: !!float 1e0
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+ # grad_clamp: !!float 1e-2
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+ # calc_gradient: True
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+ # logging_bool: True
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+ cond_overall_logging: True
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+
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+ softzoo_config:
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+ custom_gravity: False
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+ # eval: True
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+ out_dir: null # Placeholder, need to be set in run.py
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+ fixed_v: pinching_grasp.json
27
+ objects_set_file: pinching.json
28
+ env_config_file: aioz_sim_pinching.yaml # Placeholder, need to be inserted manually
29
+ layout_config_file: pincer.json
30
+ designer_config: diff_conditioning/simulation_env/designer/encoded_finger/config/pincer.json
31
+
32
+ robot_rot: [0.7071,0.7071,0,0] # [w,x,y,z]
33
+ robot_shift: [0.,0.,0.] # [x,y,z]
34
+ desc_prompt: base.txt
35
+ viewpoint: [-1.,-0.25,-0.1]
36
+ save_every_iter: *log_freq
37
+ render_every_iter: 8
38
+ n_iters: 301
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+ n_frames: 100
40
+
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+ controller_type: all_on
42
+ active: True
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+ action_v_strength: 0.35
44
+
45
+ loss_types: [ObjectBalancedLoss,ContactLoss,ThrowingObjectLoss]
46
+ loss_coefs: [1.e-4,1.e-5,1.0]
47
+ obj_x_mul: [0.,1.,0.]
48
+ com_x_mul: [5.,1.,5.]
49
+ obj_particle_id: 2
50
+
51
+ design_loss_types: ['FingerPenLoss','SelfFingerPenLoss','CLIPLoss','AngleLoss','SegmentGrowthLoss']
52
+ design_loss_coeffs: [10.0,0.01,1.e-4,0.01,0.1]
53
+
54
+ seed: *seed # Placeholder, do not use
55
+ torch_seed: *seed # Placeholder, do not use
56
+ static_as_fixed: True
57
+ device_memory_fraction: 0.55
58
+
59
+ optimize_designer: True
60
+ optimize_design_types: ['geometry','softness_E','softness_v','suction_val']
61
+ designer_lr: 0.1
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+ optimize_controller: True
63
+ gen_pointe_bounding_box:
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+ max: [2.0,0.1,0.5]
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+ # mean: [0.,0.,0.]
66
+ min: [-1.5,-1.0,-1.5]
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+
68
+ design_device: cuda:0
69
+ obj_initial_pos: [0,0,0]
70
+ num_fingers: 2
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