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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
preload_emb:
condition_embedding:
shape: [1,3,224,224]
path: asset/img_asset/ver_rec.png
random: False
diffusion_noise:
shape: [2,6,1024]
path: asset/embeddings/base_noise_cone.npy
upsample_noise:
shape: [1,6,3072]
path: asset/embeddings/upsample_noise_cone.npy
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
save_every_iter: *log_freq
render_every_iter: *log_freq
n_iters: 301
n_frames: 100
controller_type: all_on
active: True
action_v_strength: 0.35
loss_types: [ObjectBalancedLoss,ContactLoss,DiffOrientationLoss]
loss_coefs: [1.0,1.0,1.0]
obj_x_mul: [0.,1.,0.]
obj_particle_id: 2
seed: *seed # Placeholder, do not use
torch_seed: *seed # Placeholder, do not use
static_as_fixed: True
device_memory_fraction: 0.8
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
pointe_config:
base_model_name: base40M
device: cuda:1
guidance_scale: [3.0, 0.0]
num_points: [1024, 3072]
sampling_mode: ddim
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