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MNghia
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- .gitattributes +509 -0
- optimization_cube/config.yaml +79 -0
- optimization_cube/embeddings/gripper_idx0_design_0_sim_0.npz +3 -0
- optimization_cube/embeddings/gripper_idx100_design_0.0_sim_0.17446251523974016.npz +3 -0
- optimization_cube/embeddings/gripper_idx101_design_0.0_sim_0.1745359836165121.npz +3 -0
- optimization_cube/embeddings/gripper_idx102_design_0.0_sim_0.49238637327099405.npz +3 -0
- optimization_cube/embeddings/gripper_idx103_design_0.0_sim_0.1745441542508593.npz +3 -0
- optimization_cube/embeddings/gripper_idx104_design_0.0_sim_0.17444715420843734.npz +3 -0
- optimization_cube/embeddings/gripper_idx105_design_0.0_sim_0.5554124089060194.npz +3 -0
- optimization_cube/embeddings/gripper_idx106_design_0.0_sim_0.38579526572891487.npz +3 -0
- optimization_cube/embeddings/gripper_idx107_design_0.0_sim_0.1744995336977623.npz +3 -0
- optimization_cube/embeddings/gripper_idx108_design_0.0_sim_0.17447310246422676.npz +3 -0
- optimization_cube/embeddings/gripper_idx109_design_0.0_sim_0.17452718387205057.npz +3 -0
- optimization_cube/embeddings/gripper_idx10_design_0.0_sim_0.17442484273298708.npz +3 -0
- optimization_cube/embeddings/gripper_idx110_design_0.0_sim_0.17451298941089555.npz +3 -0
- optimization_cube/embeddings/gripper_idx111_design_0.0_sim_0.31637370784575947.npz +3 -0
- optimization_cube/embeddings/gripper_idx112_design_0.0_sim_0.17452424412085232.npz +3 -0
- optimization_cube/embeddings/gripper_idx113_design_0.0_sim_0.17446356467291754.npz +3 -0
- optimization_cube/embeddings/gripper_idx114_design_0.0_sim_0.17335972918479936.npz +3 -0
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- optimization_cube/embeddings/gripper_idx116_design_0.0_sim_0.17445818478351333.npz +3 -0
- optimization_cube/embeddings/gripper_idx117_design_0.0_sim_0.17445425980459497.npz +3 -0
- optimization_cube/embeddings/gripper_idx118_design_0.0_sim_0.3898496718598754.npz +3 -0
- optimization_cube/embeddings/gripper_idx119_design_0.0_sim_0.17448202553795933.npz +3 -0
- optimization_cube/embeddings/gripper_idx11_design_0.0_sim_0.1745478121308647.npz +3 -0
- optimization_cube/embeddings/gripper_idx120_design_0.0_sim_0.21115253382910043.npz +3 -0
- optimization_cube/embeddings/gripper_idx121_design_0.0_sim_0.17453522451407236.npz +3 -0
- optimization_cube/embeddings/gripper_idx122_design_0.0_sim_0.17444808232848766.npz +3 -0
- optimization_cube/embeddings/gripper_idx123_design_0.0_sim_0.17449213178163223.npz +3 -0
- optimization_cube/embeddings/gripper_idx124_design_0.0_sim_0.17452053609950685.npz +3 -0
- optimization_cube/embeddings/gripper_idx125_design_0.0_sim_0.17444814856406238.npz +3 -0
- optimization_cube/embeddings/gripper_idx126_design_0.0_sim_0.1745264117062278.npz +3 -0
- optimization_cube/embeddings/gripper_idx127_design_0.0_sim_0.1745090149519494.npz +3 -0
- optimization_cube/embeddings/gripper_idx128_design_0.0_sim_0.17449867883695389.npz +3 -0
- optimization_cube/embeddings/gripper_idx129_design_0.0_sim_0.17452012097426525.npz +3 -0
- optimization_cube/embeddings/gripper_idx12_design_0.0_sim_0.19558644290772825.npz +3 -0
- optimization_cube/embeddings/gripper_idx130_design_0.0_sim_0.313693815791476.npz +3 -0
- optimization_cube/embeddings/gripper_idx131_design_0.0_sim_0.17438148442089643.npz +3 -0
- optimization_cube/embeddings/gripper_idx132_design_0.0_sim_0.17454853909928061.npz +3 -0
- optimization_cube/embeddings/gripper_idx133_design_0.0_sim_0.17439322180810657.npz +3 -0
- optimization_cube/embeddings/gripper_idx134_design_0.0_sim_0.2934568684884811.npz +3 -0
- optimization_cube/embeddings/gripper_idx135_design_0.0_sim_0.17451571654004824.npz +3 -0
- optimization_cube/embeddings/gripper_idx136_design_0.0_sim_0.18749094853029033.npz +3 -0
- optimization_cube/embeddings/gripper_idx137_design_0.0_sim_0.17451244085554354.npz +3 -0
- optimization_cube/embeddings/gripper_idx138_design_0.0_sim_0.17441433493144307.npz +3 -0
- optimization_cube/embeddings/gripper_idx139_design_0.0_sim_0.17434929375452551.npz +3 -0
- optimization_cube/embeddings/gripper_idx13_design_0.0_sim_0.1733459885975123.npz +3 -0
- optimization_cube/embeddings/gripper_idx140_design_0.0_sim_0.3404883516208095.npz +3 -0
- optimization_cube/embeddings/gripper_idx141_design_0.0_sim_0.36787896228329475.npz +3 -0
- optimization_cube/embeddings/gripper_idx142_design_0.0_sim_0.5582143745881215.npz +3 -0
.gitattributes
CHANGED
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@@ -33,3 +33,512 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
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*.zip filter=lfs diff=lfs merge=lfs -text
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*.zst filter=lfs diff=lfs merge=lfs -text
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*tfevents* filter=lfs diff=lfs merge=lfs -text
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| 33 |
*.zip filter=lfs diff=lfs merge=lfs -text
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| 34 |
*.zst filter=lfs diff=lfs merge=lfs -text
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| 35 |
*tfevents* filter=lfs diff=lfs merge=lfs -text
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| 36 |
+
optimization_cube/softzoo/Ep_Batch_0_Sampling_0000_Local_0000.mp4 filter=lfs diff=lfs merge=lfs -text
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| 37 |
+
optimization_cube/softzoo/Ep_Batch_100_Sampling_0100_Local_0100.mp4 filter=lfs diff=lfs merge=lfs -text
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| 38 |
+
optimization_cube/softzoo/Ep_Batch_10_Sampling_0010_Local_0010.mp4 filter=lfs diff=lfs merge=lfs -text
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| 39 |
+
optimization_cube/softzoo/Ep_Batch_110_Sampling_0110_Local_0110.mp4 filter=lfs diff=lfs merge=lfs -text
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| 40 |
+
optimization_cube/softzoo/Ep_Batch_120_Sampling_0120_Local_0120.mp4 filter=lfs diff=lfs merge=lfs -text
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| 41 |
+
optimization_cube/softzoo/Ep_Batch_130_Sampling_0130_Local_0130.mp4 filter=lfs diff=lfs merge=lfs -text
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| 42 |
+
optimization_cube/softzoo/Ep_Batch_140_Sampling_0140_Local_0140.mp4 filter=lfs diff=lfs merge=lfs -text
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| 43 |
+
optimization_cube/softzoo/Ep_Batch_150_Sampling_0150_Local_0150.mp4 filter=lfs diff=lfs merge=lfs -text
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| 44 |
+
optimization_cube/softzoo/Ep_Batch_160_Sampling_0160_Local_0160.mp4 filter=lfs diff=lfs merge=lfs -text
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| 45 |
+
optimization_cube/softzoo/Ep_Batch_170_Sampling_0170_Local_0170.mp4 filter=lfs diff=lfs merge=lfs -text
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| 46 |
+
optimization_cube/softzoo/Ep_Batch_180_Sampling_0180_Local_0180.mp4 filter=lfs diff=lfs merge=lfs -text
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| 47 |
+
optimization_cube/softzoo/Ep_Batch_20_Sampling_0020_Local_0020.mp4 filter=lfs diff=lfs merge=lfs -text
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| 48 |
+
optimization_cube/softzoo/Ep_Batch_30_Sampling_0030_Local_0030.mp4 filter=lfs diff=lfs merge=lfs -text
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| 49 |
+
optimization_cube/softzoo/Ep_Batch_40_Sampling_0040_Local_0040.mp4 filter=lfs diff=lfs merge=lfs -text
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| 50 |
+
optimization_cube/softzoo/Ep_Batch_50_Sampling_0050_Local_0050.mp4 filter=lfs diff=lfs merge=lfs -text
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| 51 |
+
optimization_cube/softzoo/Ep_Batch_60_Sampling_0060_Local_0060.mp4 filter=lfs diff=lfs merge=lfs -text
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| 52 |
+
optimization_cube/softzoo/Ep_Batch_70_Sampling_0070_Local_0070.mp4 filter=lfs diff=lfs merge=lfs -text
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| 53 |
+
optimization_cube/softzoo/Ep_Batch_80_Sampling_0080_Local_0080.mp4 filter=lfs diff=lfs merge=lfs -text
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| 54 |
+
optimization_cube/softzoo/Ep_Batch_90_Sampling_0090_Local_0090.mp4 filter=lfs diff=lfs merge=lfs -text
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| 55 |
+
optimization_cube/softzoo/design/mesh_Batch_0_Sampling_0000_Local_0000.ply filter=lfs diff=lfs merge=lfs -text
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| 56 |
+
optimization_cube/softzoo/design/mesh_Batch_100_Sampling_0100_Local_0100.ply filter=lfs diff=lfs merge=lfs -text
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| 57 |
+
optimization_cube/softzoo/design/mesh_Batch_10_Sampling_0010_Local_0010.ply filter=lfs diff=lfs merge=lfs -text
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+
optimization_cube/softzoo/design/mesh_Batch_110_Sampling_0110_Local_0110.ply filter=lfs diff=lfs merge=lfs -text
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optimization_cylinder/viz_gripper_dir/gripper_idx100_design_2.306196847712272e-06_sim_0.48747706110092726.ply filter=lfs diff=lfs merge=lfs -text
|
| 488 |
+
optimization_cylinder/viz_gripper_dir/gripper_idx10_design_1.5774101484566927e-05_sim_0.5316343981184276.ply filter=lfs diff=lfs merge=lfs -text
|
| 489 |
+
optimization_cylinder/viz_gripper_dir/gripper_idx110_design_1.9336800960445544e-06_sim_0.5989462687121326.ply filter=lfs diff=lfs merge=lfs -text
|
| 490 |
+
optimization_cylinder/viz_gripper_dir/gripper_idx120_design_1.7442916941945441e-06_sim_0.514431823699024.ply filter=lfs diff=lfs merge=lfs -text
|
| 491 |
+
optimization_cylinder/viz_gripper_dir/gripper_idx130_design_1.5693444765929598e-06_sim_0.37132814104101824.ply filter=lfs diff=lfs merge=lfs -text
|
| 492 |
+
optimization_cylinder/viz_gripper_dir/gripper_idx150_design_2.1532528080570046e-06_sim_0.3777094613653048.ply filter=lfs diff=lfs merge=lfs -text
|
| 493 |
+
optimization_cylinder/viz_gripper_dir/gripper_idx160_design_1.90963646673481e-06_sim_0.4597914137417613.ply filter=lfs diff=lfs merge=lfs -text
|
| 494 |
+
optimization_cylinder/viz_gripper_dir/gripper_idx170_design_1.630192855373025e-06_sim_0.47506053463596065.ply filter=lfs diff=lfs merge=lfs -text
|
| 495 |
+
optimization_cylinder/viz_gripper_dir/gripper_idx180_design_1.3369846101340954e-06_sim_0.6262738661520902.ply filter=lfs diff=lfs merge=lfs -text
|
| 496 |
+
optimization_cylinder/viz_gripper_dir/gripper_idx190_design_1.1322744057906675e-06_sim_0.5074321796717695.ply filter=lfs diff=lfs merge=lfs -text
|
| 497 |
+
optimization_cylinder/viz_gripper_dir/gripper_idx200_design_1.2092416454834165e-06_sim_0.5141925121230249.ply filter=lfs diff=lfs merge=lfs -text
|
| 498 |
+
optimization_cylinder/viz_gripper_dir/gripper_idx20_design_1.4881056813464966e-05_sim_0.47460103702449197.ply filter=lfs diff=lfs merge=lfs -text
|
| 499 |
+
optimization_cylinder/viz_gripper_dir/gripper_idx210_design_1.73203295616986e-06_sim_0.5300148891563643.ply filter=lfs diff=lfs merge=lfs -text
|
| 500 |
+
optimization_cylinder/viz_gripper_dir/gripper_idx220_design_1.4819530633758404e-06_sim_0.5380639637864814.ply filter=lfs diff=lfs merge=lfs -text
|
| 501 |
+
optimization_cylinder/viz_gripper_dir/gripper_idx230_design_1.119885951084143e-06_sim_0.5110321788210916.ply filter=lfs diff=lfs merge=lfs -text
|
| 502 |
+
optimization_cylinder/viz_gripper_dir/gripper_idx240_design_7.859873676352436e-07_sim_0.524624652730334.ply filter=lfs diff=lfs merge=lfs -text
|
| 503 |
+
optimization_cylinder/viz_gripper_dir/gripper_idx250_design_9.511140888207592e-07_sim_0.36986826165490666.ply filter=lfs diff=lfs merge=lfs -text
|
| 504 |
+
optimization_cylinder/viz_gripper_dir/gripper_idx260_design_8.37328514080582e-07_sim_0.529997383229291.ply filter=lfs diff=lfs merge=lfs -text
|
| 505 |
+
optimization_cylinder/viz_gripper_dir/gripper_idx270_design_7.350874966505216e-07_sim_0.5771222361220866.ply filter=lfs diff=lfs merge=lfs -text
|
| 506 |
+
optimization_cylinder/viz_gripper_dir/gripper_idx280_design_1.0069312565974542e-06_sim_0.5160382477349252.ply filter=lfs diff=lfs merge=lfs -text
|
| 507 |
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optimization_cylinder/viz_gripper_dir/gripper_idx300_design_8.436079497187166e-07_sim_0.5728767948807653.ply filter=lfs diff=lfs merge=lfs -text
|
| 508 |
+
optimization_cylinder/viz_gripper_dir/gripper_idx30_design_1.4447380635829177e-05_sim_0.5100971710444502.ply filter=lfs diff=lfs merge=lfs -text
|
| 509 |
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optimization_cylinder/viz_gripper_dir/gripper_idx310_design_8.171582521754317e-07_sim_0.5401564929094181.ply filter=lfs diff=lfs merge=lfs -text
|
| 510 |
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optimization_cylinder/viz_gripper_dir/gripper_idx320_design_6.849638793937629e-07_sim_0.4805367595407029.ply filter=lfs diff=lfs merge=lfs -text
|
| 511 |
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optimization_cylinder/viz_gripper_dir/gripper_idx340_design_8.019156325644872e-07_sim_0.4608716036647668.ply filter=lfs diff=lfs merge=lfs -text
|
| 512 |
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optimization_cylinder/viz_gripper_dir/gripper_idx350_design_4.684434031787532e-07_sim_0.4412855024770759.ply filter=lfs diff=lfs merge=lfs -text
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| 513 |
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optimization_cylinder/viz_gripper_dir/gripper_idx360_design_8.601119105833277e-08_sim_0.25870891106584926.ply filter=lfs diff=lfs merge=lfs -text
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| 514 |
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optimization_cylinder/viz_gripper_dir/gripper_idx370_design_3.136890569521711e-08_sim_0.25089084215426455.ply filter=lfs diff=lfs merge=lfs -text
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| 515 |
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optimization_cylinder/viz_gripper_dir/gripper_idx380_design_5.0548166541375394e-08_sim_0.24840345308257808.ply filter=lfs diff=lfs merge=lfs -text
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| 516 |
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optimization_cylinder/viz_gripper_dir/gripper_idx390_design_2.487736594503076e-08_sim_0.4738201529766737.ply filter=lfs diff=lfs merge=lfs -text
|
| 517 |
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optimization_cylinder/viz_gripper_dir/gripper_idx400_design_1.0226725244422141e-08_sim_0.3626445567677488.ply filter=lfs diff=lfs merge=lfs -text
|
| 518 |
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optimization_cylinder/viz_gripper_dir/gripper_idx40_design_1.4409854884434026e-05_sim_0.5829102681627113.ply filter=lfs diff=lfs merge=lfs -text
|
| 519 |
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optimization_cylinder/viz_gripper_dir/gripper_idx410_design_5.760016019706882e-09_sim_0.2563954362585737.ply filter=lfs diff=lfs merge=lfs -text
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| 520 |
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optimization_cylinder/viz_gripper_dir/gripper_idx420_design_3.7289824561526075e-09_sim_0.5068153050435629.ply filter=lfs diff=lfs merge=lfs -text
|
| 521 |
+
optimization_cylinder/viz_gripper_dir/gripper_idx430_design_3.687517846628907e-09_sim_0.4377340316571117.ply filter=lfs diff=lfs merge=lfs -text
|
| 522 |
+
optimization_cylinder/viz_gripper_dir/gripper_idx440_design_4.302795009181182e-09_sim_0.27052180442409085.ply filter=lfs diff=lfs merge=lfs -text
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| 523 |
+
optimization_cylinder/viz_gripper_dir/gripper_idx450_design_4.8253547824117504e-09_sim_0.30943328429611905.ply filter=lfs diff=lfs merge=lfs -text
|
| 524 |
+
optimization_cylinder/viz_gripper_dir/gripper_idx460_design_3.68857566712677e-09_sim_0.2652623063726221.ply filter=lfs diff=lfs merge=lfs -text
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| 525 |
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optimization_cylinder/viz_gripper_dir/gripper_idx470_design_3.766083445100321e-09_sim_0.2916670494915669.ply filter=lfs diff=lfs merge=lfs -text
|
| 526 |
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optimization_cylinder/viz_gripper_dir/gripper_idx480_design_3.664010206350099e-09_sim_0.3213261257582125.ply filter=lfs diff=lfs merge=lfs -text
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| 527 |
+
optimization_cylinder/viz_gripper_dir/gripper_idx490_design_3.387407687682753e-09_sim_0.4312873760179991.ply filter=lfs diff=lfs merge=lfs -text
|
| 528 |
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optimization_cylinder/viz_gripper_dir/gripper_idx500_design_2.9685560676284695e-09_sim_0.25946105459197505.ply filter=lfs diff=lfs merge=lfs -text
|
| 529 |
+
optimization_cylinder/viz_gripper_dir/gripper_idx50_design_1.3550227777159307e-05_sim_0.5019468973028003.ply filter=lfs diff=lfs merge=lfs -text
|
| 530 |
+
optimization_cylinder/viz_gripper_dir/gripper_idx510_design_3.3006639643673452e-09_sim_0.2981892242883992.ply filter=lfs diff=lfs merge=lfs -text
|
| 531 |
+
optimization_cylinder/viz_gripper_dir/gripper_idx520_design_3.5891538630039577e-09_sim_0.470357870003039.ply filter=lfs diff=lfs merge=lfs -text
|
| 532 |
+
optimization_cylinder/viz_gripper_dir/gripper_idx530_design_2.7838915617195426e-09_sim_0.2575088542895266.ply filter=lfs diff=lfs merge=lfs -text
|
| 533 |
+
optimization_cylinder/viz_gripper_dir/gripper_idx540_design_3.4761813427763855e-09_sim_0.4340087144540441.ply filter=lfs diff=lfs merge=lfs -text
|
| 534 |
+
optimization_cylinder/viz_gripper_dir/gripper_idx550_design_2.826624045937365e-09_sim_0.3513663808989583.ply filter=lfs diff=lfs merge=lfs -text
|
| 535 |
+
optimization_cylinder/viz_gripper_dir/gripper_idx560_design_2.392306575060843e-09_sim_0.5604135914643772.ply filter=lfs diff=lfs merge=lfs -text
|
| 536 |
+
optimization_cylinder/viz_gripper_dir/gripper_idx570_design_1.836754637274396e-09_sim_0.3087994077366869.ply filter=lfs diff=lfs merge=lfs -text
|
| 537 |
+
optimization_cylinder/viz_gripper_dir/gripper_idx580_design_1.8482061436841946e-09_sim_0.33538637126407206.ply filter=lfs diff=lfs merge=lfs -text
|
| 538 |
+
optimization_cylinder/viz_gripper_dir/gripper_idx590_design_1.6854230233676049e-09_sim_0.34670001536902617.ply filter=lfs diff=lfs merge=lfs -text
|
| 539 |
+
optimization_cylinder/viz_gripper_dir/gripper_idx600_design_1.3498192563687894e-09_sim_0.3095488743085055.ply filter=lfs diff=lfs merge=lfs -text
|
| 540 |
+
optimization_cylinder/viz_gripper_dir/gripper_idx60_design_1.1908848136954475e-05_sim_0.5922977487876203.ply filter=lfs diff=lfs merge=lfs -text
|
| 541 |
+
optimization_cylinder/viz_gripper_dir/gripper_idx610_design_1.1756279283403614e-09_sim_0.3605559348320724.ply filter=lfs diff=lfs merge=lfs -text
|
| 542 |
+
optimization_cylinder/viz_gripper_dir/gripper_idx70_design_1.024900939228246e-05_sim_0.5601709711110723.ply filter=lfs diff=lfs merge=lfs -text
|
| 543 |
+
optimization_cylinder/viz_gripper_dir/gripper_idx80_design_7.755783371976577e-06_sim_0.3146367654679955.ply filter=lfs diff=lfs merge=lfs -text
|
| 544 |
+
optimization_cylinder/viz_gripper_dir/gripper_idx90_design_4.022992925456492e-06_sim_0.33548262425172426.ply filter=lfs diff=lfs merge=lfs -text
|
optimization_cube/config.yaml
ADDED
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| 1 |
+
exp_name: optimization_cube
|
| 2 |
+
seed: &seed 2010445
|
| 3 |
+
out_dir: ./logs/
|
| 4 |
+
tensorboard_log_dir: ./logs/optimization_cube
|
| 5 |
+
save_every_iter: &log_freq 10
|
| 6 |
+
total_steps: 1024 # 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
|
| 13 |
+
calc_gradient: True
|
| 14 |
+
logging_bool: True
|
| 15 |
+
# - name: "Dist_To_Origin"
|
| 16 |
+
# grad_scale: !!float 1e0
|
| 17 |
+
# grad_clamp: !!float 1e-2
|
| 18 |
+
# calc_gradient: True
|
| 19 |
+
# logging_bool: True
|
| 20 |
+
cond_overall_logging: True
|
| 21 |
+
|
| 22 |
+
preload_emb:
|
| 23 |
+
condition_embedding:
|
| 24 |
+
shape: [1,3,224,224]
|
| 25 |
+
path: asset/img_asset/ver_rec.png
|
| 26 |
+
random: False
|
| 27 |
+
diffusion_noise:
|
| 28 |
+
shape: [2,6,1024]
|
| 29 |
+
path: asset/embeddings/base_noise_cone.npy
|
| 30 |
+
upsample_noise:
|
| 31 |
+
shape: [1,6,3072]
|
| 32 |
+
path: asset/embeddings/upsample_noise_cone.npy
|
| 33 |
+
|
| 34 |
+
softzoo_config:
|
| 35 |
+
custom_gravity: False
|
| 36 |
+
# eval: True
|
| 37 |
+
out_dir: null # Placeholder, need to be set in run.py
|
| 38 |
+
fixed_v: gripping_5_HTP.json
|
| 39 |
+
env_config_file: null # Placeholder, need to be inserted manually
|
| 40 |
+
save_every_iter: *log_freq
|
| 41 |
+
render_every_iter: *log_freq
|
| 42 |
+
n_iters: 301
|
| 43 |
+
n_frames: 100
|
| 44 |
+
|
| 45 |
+
controller_type: all_on
|
| 46 |
+
active: True
|
| 47 |
+
action_v_strength: 0.35
|
| 48 |
+
|
| 49 |
+
loss_types: [ObjectBalancedLoss,ContactLoss,DiffOrientationLoss]
|
| 50 |
+
loss_coefs: [1.0,1.0,0.1]
|
| 51 |
+
obj_x_mul: [0.,1.,0.]
|
| 52 |
+
obj_particle_id: 2
|
| 53 |
+
surface_threshold: 0.02
|
| 54 |
+
|
| 55 |
+
seed: *seed # Placeholder, do not use
|
| 56 |
+
torch_seed: *seed # Placeholder, do not use
|
| 57 |
+
static_as_fixed: True
|
| 58 |
+
device_memory_fraction: 0.7
|
| 59 |
+
|
| 60 |
+
optimize_designer: True
|
| 61 |
+
optimize_design_types: ['geometry','softness','suction_val']
|
| 62 |
+
designer_lr: 0.1
|
| 63 |
+
optimize_controller: True
|
| 64 |
+
gen_pointe_bounding_box:
|
| 65 |
+
max: [1.5,0.1,1.5]
|
| 66 |
+
# mean: [0.,0.,0.]
|
| 67 |
+
min: [-1.5,-3.5,-1.5]
|
| 68 |
+
|
| 69 |
+
design_device: cpu
|
| 70 |
+
obj_initial_pos: [0,0,0]
|
| 71 |
+
num_fingers: 2
|
| 72 |
+
|
| 73 |
+
pointe_config:
|
| 74 |
+
base_model_name: base40M
|
| 75 |
+
device: cuda:1
|
| 76 |
+
guidance_scale: [3.0, 0.0]
|
| 77 |
+
num_points: [1024, 3072]
|
| 78 |
+
sampling_mode: ddim
|
| 79 |
+
|
optimization_cube/embeddings/gripper_idx0_design_0_sim_0.npz
ADDED
|
@@ -0,0 +1,3 @@
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|
|
|
|
|
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|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:cb9ff5e4458a7b17f078009322fbd31e4322bcfa6f81b12be3518fe8bc0baa67
|
| 3 |
+
size 459
|
optimization_cube/embeddings/gripper_idx100_design_0.0_sim_0.17446251523974016.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:07eff7e0f999ec16980bb58fc83cad010245020effeec19884ac3abee53db185
|
| 3 |
+
size 664
|
optimization_cube/embeddings/gripper_idx101_design_0.0_sim_0.1745359836165121.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:a88936738ed9507922a11e0a66badf6bf4ce0c7c0d2419bc5f28f9004681aded
|
| 3 |
+
size 662
|
optimization_cube/embeddings/gripper_idx102_design_0.0_sim_0.49238637327099405.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:a88936738ed9507922a11e0a66badf6bf4ce0c7c0d2419bc5f28f9004681aded
|
| 3 |
+
size 662
|
optimization_cube/embeddings/gripper_idx103_design_0.0_sim_0.1745441542508593.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:a88936738ed9507922a11e0a66badf6bf4ce0c7c0d2419bc5f28f9004681aded
|
| 3 |
+
size 662
|
optimization_cube/embeddings/gripper_idx104_design_0.0_sim_0.17444715420843734.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:a88936738ed9507922a11e0a66badf6bf4ce0c7c0d2419bc5f28f9004681aded
|
| 3 |
+
size 662
|
optimization_cube/embeddings/gripper_idx105_design_0.0_sim_0.5554124089060194.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
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|
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|
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