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debug_server/config.yaml

@@ -2,7 +2,7 @@ exp_name: debug_server
 seed: &seed 22
 out_dir: ./logs/
 tensorboard_log_dir: runs/
-save_every_iter: &log_freq 1
+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
 
@@ -36,7 +36,7 @@ softzoo_config:
   # eval: True
   out_dir: null # Placeholder, need to be set in run.py
   fixed_v: gripping_5_HTP.json
-  objects_set_file: validation_object.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
@@ -51,7 +51,6 @@ softzoo_config:
   loss_coefs: [1.0,1.0,1.0]
   obj_x_mul: [0.,1.,0.]
   obj_particle_id: 2
-  surface_threshold: 0.1
 
   seed: *seed  # Placeholder, do not use
   torch_seed: *seed  # Placeholder, do not use

debug_server/softzoo/Ep_Batch_-1_Sampling_-001_Local_0000.mp4

@@ -1,3 +1,3 @@
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-size 472785
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+size 457843

debug_server/softzoo/ckpt/args.json

@@ -148,7 +148,7 @@
         0.0
     ],
     "objective_reward_mode": null,
-    "objects_set_file": "validation_object.json",
+    "objects_set_file": "objects_set_a.json",
     "optimize_controller": true,
     "optimize_design_types": [
         "geometry",
@@ -158,7 +158,7 @@
     "optimize_designer": true,
     "out_dir": "./logs/debug_server/softzoo",
     "recenter_mesh_target": false,
-    "render_every_iter": 1,
+    "render_every_iter": 12,
     "rotation_up_direction": [
         0.0,
         1.0,
@@ -166,7 +166,7 @@
     ],
     "save_controller": false,
     "save_designer": false,
-    "save_every_iter": 1,
+    "save_every_iter": 12,
     "sdf_basis_actuator_mul": 1.0,
     "sdf_basis_coefs_activation": "linear",
     "sdf_basis_init_coefs_actuator": null,
@@ -191,7 +191,6 @@
     "sin_omega_mul": 10.0,
     "static_as_fixed": true,
     "substep_freq": 100,
-    "surface_threshold": 0.1,
     "torch_seed": 22,
     "v_following_mode": 0,
     "v_following_v_mul": [

debug_server/softzoo/ckpt/env_config.yaml

@@ -55,7 +55,7 @@ ENVIRONMENT:
     base_shape:
       initial_position:
       - 0.55
-      - 0.22
+      - 0.225
       - 0.4
       initial_velocity:
       - 0.0

debug_server/softzoo/design/gripper_batch_-1.npz

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designer_fixed_branching_optim_geo_5e-2_topo_1e-1_seed56/cmd_config.yaml

@@ -0,0 +1,15 @@
+accum_grad_sim: 6
+designer_type: branching
+device: cuda:0
+env_config: gripping_a_5_HTP_a_0.5_-0.5_-0.5_0.5_a_0.5.yaml
+exp_name: designer_fixed_branching_optim_geo_5e-2_topo_1e-1
+fixed_v_file: gripping_5_HTP.json
+geometry_lr: 0.05
+grad_clipping: null
+gumbel: true
+init_emb_path: asset/embeddings/stump_branching_gripper_50.npz
+max_epoch: 1000
+object_set_file: objects_set_a.json
+optim_config_path: config/debug_server.yaml
+seed: 56
+topo_lr: 0.1

designer_fixed_branching_optim_geo_5e-2_topo_1e-1_seed56/config.yaml

@@ -0,0 +1,79 @@
+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','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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