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20260330_134903_boost_2pinch_geo_1e-3_topo_4e-2_accum2_seed4324/cmd_config.yaml

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+accum_grad_sim: 2
+desc_prompt: base_perching_prompt.txt
+designer_config_file: diff_conditioning/simulation_env/designer/encoded_finger/config/2finger_pinch.json
+designer_scale: 1.0
+designer_type: single
+env_config: server_2finger_pinching.yaml
+exp_name: boost_2pinch_geo_1e-3_topo_4e-2_accum2
+fixed_v_file: 2finger_pinch.json
+geometry_lr: 0.001
+grad_clipping: 0.1
+gripper_dim: 12
+gumbel: true
+init_emb_path: asset/output/nature/2finger_pinch/pinch_0.npz
+layout_config_file: 2finger_pinch.json
+max_epoch: 2400
+min_delta: 0.0
+monitor_metric: eval/sim_loss
+num_fingers: 2
+num_segments: 10
+object_set_file: 2finger_pinching.json
+optim_config_path: config/optimization_config/2finger_pinch/2finger_boost.yaml
+patience: 100
+seed: 4324
+stop_mode: min
+topo_lr: 0.04
+viewpoint:
+- -1.0
+- -0.25
+- -0.1
+zero_grad_dims:
+- 10
+- 11

20260330_134903_boost_2pinch_geo_1e-3_topo_4e-2_accum2_seed4324/config.yaml

@@ -0,0 +1,70 @@
+exp_name: 2finger_pinching
+seed: &seed 22232
+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: 2finger_pinch.json
+  objects_set_file: 2finger_pinching.json
+  env_config_file: aioz_sim_2finger.yaml  # Placeholder, need to be inserted manually
+  layout_config_file: 2finger_pinch.json
+  designer_config: diff_conditioning/simulation_env/designer/encoded_finger/config/2finger_pinch.json
+
+  robot_rot: [0.707,0.,0.,0.707] # [w,x,y,z]
+  robot_shift: [0.0,0.0,0.] # [x,y,z]
+  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: [5.,1.,5.]
+  obj_particle_id: 2
+
+  design_loss_types:  ['FingerPenLoss','SelfFingerPenLoss','CLIPLoss','AngleLoss','SegmentGrowthLoss']
+  design_loss_coeffs: [10.0,0.01,1.e-4,0.01,1.0]
+
+  seed: *seed  # Placeholder, do not use
+  torch_seed: *seed  # Placeholder, do not use
+  static_as_fixed: True
+  device_memory_fraction: 0.55
+
+  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: [1.0,0.1,1.0]
+    # mean: [0.,0.,0.]
+    min: [-1.0,-3.0,-1.0]
+
+  design_device: cuda:0
+  obj_initial_pos: [0,0,0]
+  num_fingers: 2

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