optimization_cube/softzoo/ckpt/env_config.yaml

SIMULATOR:
  dim: 3
  gravity: [0., -3.8, 0.]
  default_dt: 5.e-4
  quality: 1.
  padding: [28, 3, 28]
  needs_grad: True
  use_checkpointing: True
  max_substeps_local: 20
  max_substeps: 7000
  max_num_particles: 75000
  use_dynamic_field: False
  checkpoint_cache_device: torch_cpu
  base_active_materials: []
  max_actuation: 81
ENVIRONMENT:
  objective: throw_object
  objective_config:
    reward_mode: final
    forward_direction: [0., 1., 0.]
    max_episode_steps: 100
    obj_particles_id: 2
  ITEMS:
    # Terrain
    - type: Static.BoundingBox # World boundary
      semantic_id: 0 # static obstacle
    - type: Static.Terrain
      surface: Surface.Slip
      semantic_id: 0 # static obstacle
      friction: 0.5
      min_height: &ground_height 0.1
      max_height: *ground_height
      dampen_coeff: 1.0 # Should be around 0.5-0.6, lower will cause sinking, higher will cause bounce.
    - type: Primitive.Box
      size: [0.05, 0.03, 0.05]
      sample_density: 16
      initial_position: [0.55, 0.12, 0.4]
      initial_velocity: [0., 0., 0.]
      material: FakeRigid
      particle_id: 2
      semantic_id: 2
      # ground_height: 0.101
  # Environment-specific
  use_renderer: False
  actuation_strength: 0.3
  observation_space: [time, com]
  design_space: pbr
  design_space_config:
    n_actuators: 81
    initial_principle_direction: [1., 0., 0.]
    p_rho_lower_bound_mul: 0.1
    base_shape:
      type: Primitive.Box
      size: [0.1, 0.1, 0.1]
      sample_density: 32
      initial_position: [0.55, 0.205, 0.4]
      initial_velocity: [0., 0., 0.]
      material: DiffAquaMuscle
      particle_id: 3 # used as robot id
      particle_info:
        p_rho_0: 1.e+3
        E_0: 1.e+4
      semantic_id: 3
  CUSTOM:
    randomize_terrain: False
    has_matter_on_ground: False
    matter_id: 4
    matter_materials: []
    matter_thickness: 0.02
    matter_sample_density: 8
    matter_semantic_id: 4
    matter_youngs_modulus: 1.e+5
    matter_padding: [32, 3, 32]
RENDERER:
  type: ggui
  GGUI:
    ambient_light: [0.5, 0.5, 0.5]
    camera_lookat: [0.5, 0.1, 0.5] # horizontal look
    camera_position: [0.5, 0.25, 0.05]
    particle_radius: 0.002
    particle_coloring_mode: actuation
    ground_surface_cmap: textures/ground.png
    res: [1920, 1080]
    # meshify_particle_ids: [2]
    # meshification_colors: [[1.,0.,0.,1.]]