Upload folder using huggingface_hub

.gitattributes

@@ -5405,3 +5405,77 @@ single_optim_geo_1e-1_topo_2e-1_designer_1e1_seed33/viz_gripper_dir/gripper_idx9
 20251219_083629_train_log_branching_optim_geo_5e-2_topo_5e-2_designer_1e0_seed67/softzoo/Ep_Batch_-1_Sampling_0038_Local_0002.mp4 filter=lfs diff=lfs merge=lfs -text
 20251219_083629_train_log_branching_optim_geo_5e-2_topo_5e-2_designer_1e0_seed67/viz_gripper_dir/gripper_idx456_design_0.39137646555900574_sim_0.06225544993578894.ply filter=lfs diff=lfs merge=lfs -text
 20251219_083629_train_log_branching_optim_geo_5e-2_topo_5e-2_designer_1e0_seed67/viz_gripper_dir/gripper_idx468_design_0.33820104598999023_sim_0.06246660548371109.ply filter=lfs diff=lfs merge=lfs -text
+20251221_123106_update_contact_growth_single_optim_geo_1e-2_topo_2e-2_designer_1e0_seed45/softzoo/Ep_Batch_-1_Sampling_0000_Local_0000.mp4 filter=lfs diff=lfs merge=lfs -text
+20251221_123106_update_contact_growth_single_optim_geo_1e-2_topo_2e-2_designer_1e0_seed45/softzoo/Ep_Batch_-1_Sampling_0000_Local_0001.mp4 filter=lfs diff=lfs merge=lfs -text
+20251221_123106_update_contact_growth_single_optim_geo_1e-2_topo_2e-2_designer_1e0_seed45/softzoo/Ep_Batch_-1_Sampling_0000_Local_0002.mp4 filter=lfs diff=lfs merge=lfs -text
+20251221_123106_update_contact_growth_single_optim_geo_1e-2_topo_2e-2_designer_1e0_seed45/softzoo/Ep_Batch_-1_Sampling_0012_Local_0000.mp4 filter=lfs diff=lfs merge=lfs -text
+20251221_123106_update_contact_growth_single_optim_geo_1e-2_topo_2e-2_designer_1e0_seed45/softzoo/Ep_Batch_-1_Sampling_0012_Local_0001.mp4 filter=lfs diff=lfs merge=lfs -text
+20251221_123106_update_contact_growth_single_optim_geo_1e-2_topo_2e-2_designer_1e0_seed45/softzoo/Ep_Batch_-1_Sampling_0012_Local_0002.mp4 filter=lfs diff=lfs merge=lfs -text
+20251221_123106_update_contact_growth_single_optim_geo_1e-2_topo_2e-2_designer_1e0_seed45/softzoo/Ep_Batch_-1_Sampling_0024_Local_0000.mp4 filter=lfs diff=lfs merge=lfs -text
+20251221_123106_update_contact_growth_single_optim_geo_1e-2_topo_2e-2_designer_1e0_seed45/softzoo/Ep_Batch_-1_Sampling_0024_Local_0001.mp4 filter=lfs diff=lfs merge=lfs -text
+20251221_123106_update_contact_growth_single_optim_geo_1e-2_topo_2e-2_designer_1e0_seed45/softzoo/Ep_Batch_-1_Sampling_0024_Local_0002.mp4 filter=lfs diff=lfs merge=lfs -text
+20251221_123106_update_contact_growth_single_optim_geo_1e-2_topo_2e-2_designer_1e0_seed45/softzoo/Ep_Batch_-1_Sampling_0036_Local_0000.mp4 filter=lfs diff=lfs merge=lfs -text
+20251221_123106_update_contact_growth_single_optim_geo_1e-2_topo_2e-2_designer_1e0_seed45/softzoo/Ep_Batch_-1_Sampling_0036_Local_0001.mp4 filter=lfs diff=lfs merge=lfs -text
+20251221_123106_update_contact_growth_single_optim_geo_1e-2_topo_2e-2_designer_1e0_seed45/softzoo/Ep_Batch_-1_Sampling_0036_Local_0002.mp4 filter=lfs diff=lfs merge=lfs -text
+20251221_123106_update_contact_growth_single_optim_geo_1e-2_topo_2e-2_designer_1e0_seed45/softzoo/Ep_Batch_-1_Sampling_0048_Local_0000.mp4 filter=lfs diff=lfs merge=lfs -text
+20251221_123106_update_contact_growth_single_optim_geo_1e-2_topo_2e-2_designer_1e0_seed45/softzoo/Ep_Batch_-1_Sampling_0048_Local_0001.mp4 filter=lfs diff=lfs merge=lfs -text
+20251221_123106_update_contact_growth_single_optim_geo_1e-2_topo_2e-2_designer_1e0_seed45/softzoo/Ep_Batch_-1_Sampling_0048_Local_0002.mp4 filter=lfs diff=lfs merge=lfs -text
+20251221_123106_update_contact_growth_single_optim_geo_1e-2_topo_2e-2_designer_1e0_seed45/softzoo/Ep_Batch_-1_Sampling_0060_Local_0000.mp4 filter=lfs diff=lfs merge=lfs -text
+20251221_123106_update_contact_growth_single_optim_geo_1e-2_topo_2e-2_designer_1e0_seed45/softzoo/Ep_Batch_-1_Sampling_0060_Local_0001.mp4 filter=lfs diff=lfs merge=lfs -text
+20251221_123106_update_contact_growth_single_optim_geo_1e-2_topo_2e-2_designer_1e0_seed45/softzoo/Ep_Batch_-1_Sampling_0060_Local_0002.mp4 filter=lfs diff=lfs merge=lfs -text
+20251221_123106_update_contact_growth_single_optim_geo_1e-2_topo_2e-2_designer_1e0_seed45/softzoo/Ep_Batch_-1_Sampling_0072_Local_0000.mp4 filter=lfs diff=lfs merge=lfs -text
+20251221_123106_update_contact_growth_single_optim_geo_1e-2_topo_2e-2_designer_1e0_seed45/softzoo/Ep_Batch_-1_Sampling_0072_Local_0001.mp4 filter=lfs diff=lfs merge=lfs -text
+20251221_123106_update_contact_growth_single_optim_geo_1e-2_topo_2e-2_designer_1e0_seed45/softzoo/Ep_Batch_-1_Sampling_0072_Local_0002.mp4 filter=lfs diff=lfs merge=lfs -text
+20251221_123106_update_contact_growth_single_optim_geo_1e-2_topo_2e-2_designer_1e0_seed45/softzoo/Ep_Batch_-1_Sampling_0084_Local_0000.mp4 filter=lfs diff=lfs merge=lfs -text
+20251221_123106_update_contact_growth_single_optim_geo_1e-2_topo_2e-2_designer_1e0_seed45/softzoo/Ep_Batch_-1_Sampling_0084_Local_0001.mp4 filter=lfs diff=lfs merge=lfs -text
+20251221_123106_update_contact_growth_single_optim_geo_1e-2_topo_2e-2_designer_1e0_seed45/softzoo/Ep_Batch_-1_Sampling_0084_Local_0002.mp4 filter=lfs diff=lfs merge=lfs -text
+20251221_123106_update_contact_growth_single_optim_geo_1e-2_topo_2e-2_designer_1e0_seed45/softzoo/Ep_Batch_-1_Sampling_0096_Local_0000.mp4 filter=lfs diff=lfs merge=lfs -text
+20251221_123106_update_contact_growth_single_optim_geo_1e-2_topo_2e-2_designer_1e0_seed45/softzoo/Ep_Batch_-1_Sampling_0096_Local_0001.mp4 filter=lfs diff=lfs merge=lfs -text
+20251221_123106_update_contact_growth_single_optim_geo_1e-2_topo_2e-2_designer_1e0_seed45/softzoo/Ep_Batch_-1_Sampling_0096_Local_0002.mp4 filter=lfs diff=lfs merge=lfs -text
+20251221_123106_update_contact_growth_single_optim_geo_1e-2_topo_2e-2_designer_1e0_seed45/viz_gripper_dir/gripper_idx0_design_0.025031859055161476_sim_0.04899017961857955.ply filter=lfs diff=lfs merge=lfs -text
+20251221_123106_update_contact_growth_single_optim_geo_1e-2_topo_2e-2_designer_1e0_seed45/viz_gripper_dir/gripper_idx0_design_0_sim_0.ply filter=lfs diff=lfs merge=lfs -text
+20251221_123106_update_contact_growth_single_optim_geo_1e-2_topo_2e-2_designer_1e0_seed45/viz_gripper_dir/gripper_idx12_design_0.02507173642516136_sim_0.04902134613627125.ply filter=lfs diff=lfs merge=lfs -text
+20251221_123106_update_contact_growth_single_optim_geo_1e-2_topo_2e-2_designer_1e0_seed45/viz_gripper_dir/gripper_idx24_design_0.025070443749427795_sim_0.049005825172829115.ply filter=lfs diff=lfs merge=lfs -text
+20251221_123106_update_contact_growth_single_optim_geo_1e-2_topo_2e-2_designer_1e0_seed45/viz_gripper_dir/gripper_idx36_design_0.025092074647545815_sim_0.049005767605384186.ply filter=lfs diff=lfs merge=lfs -text
+20251221_123106_update_contact_growth_single_optim_geo_1e-2_topo_2e-2_designer_1e0_seed45/viz_gripper_dir/gripper_idx48_design_0.025111015886068344_sim_0.049028409518280955.ply filter=lfs diff=lfs merge=lfs -text
+20251221_123106_update_contact_growth_single_optim_geo_1e-2_topo_2e-2_designer_1e0_seed45/viz_gripper_dir/gripper_idx60_design_0.025125451385974884_sim_0.04902572558841182.ply filter=lfs diff=lfs merge=lfs -text
+20251221_123106_update_contact_growth_single_optim_geo_1e-2_topo_2e-2_designer_1e0_seed45/viz_gripper_dir/gripper_idx72_design_0.0251372829079628_sim_0.04903628193785208.ply filter=lfs diff=lfs merge=lfs -text
+20251221_123106_update_contact_growth_single_optim_geo_1e-2_topo_2e-2_designer_1e0_seed45/viz_gripper_dir/gripper_idx84_design_0.02515963464975357_sim_0.04903522726585628.ply filter=lfs diff=lfs merge=lfs -text
+20251221_123106_update_contact_growth_single_optim_geo_1e-2_topo_2e-2_designer_1e0_seed45/viz_gripper_dir/gripper_idx96_design_0.025152452290058136_sim_0.04902755652300195.ply filter=lfs diff=lfs merge=lfs -text
+20251221_123119_update_contact_growth_branching_optim_geo_1e-2_topo_2e-2_designer_1e0_seed267/softzoo/Ep_Batch_-1_Sampling_0000_Local_0000.mp4 filter=lfs diff=lfs merge=lfs -text
+20251221_123119_update_contact_growth_branching_optim_geo_1e-2_topo_2e-2_designer_1e0_seed267/softzoo/Ep_Batch_-1_Sampling_0000_Local_0001.mp4 filter=lfs diff=lfs merge=lfs -text
+20251221_123119_update_contact_growth_branching_optim_geo_1e-2_topo_2e-2_designer_1e0_seed267/softzoo/Ep_Batch_-1_Sampling_0000_Local_0002.mp4 filter=lfs diff=lfs merge=lfs -text
+20251221_123119_update_contact_growth_branching_optim_geo_1e-2_topo_2e-2_designer_1e0_seed267/softzoo/Ep_Batch_-1_Sampling_0012_Local_0000.mp4 filter=lfs diff=lfs merge=lfs -text
+20251221_123119_update_contact_growth_branching_optim_geo_1e-2_topo_2e-2_designer_1e0_seed267/softzoo/Ep_Batch_-1_Sampling_0012_Local_0001.mp4 filter=lfs diff=lfs merge=lfs -text
+20251221_123119_update_contact_growth_branching_optim_geo_1e-2_topo_2e-2_designer_1e0_seed267/softzoo/Ep_Batch_-1_Sampling_0012_Local_0002.mp4 filter=lfs diff=lfs merge=lfs -text
+20251221_123119_update_contact_growth_branching_optim_geo_1e-2_topo_2e-2_designer_1e0_seed267/softzoo/Ep_Batch_-1_Sampling_0024_Local_0000.mp4 filter=lfs diff=lfs merge=lfs -text
+20251221_123119_update_contact_growth_branching_optim_geo_1e-2_topo_2e-2_designer_1e0_seed267/softzoo/Ep_Batch_-1_Sampling_0024_Local_0001.mp4 filter=lfs diff=lfs merge=lfs -text
+20251221_123119_update_contact_growth_branching_optim_geo_1e-2_topo_2e-2_designer_1e0_seed267/softzoo/Ep_Batch_-1_Sampling_0024_Local_0002.mp4 filter=lfs diff=lfs merge=lfs -text
+20251221_123119_update_contact_growth_branching_optim_geo_1e-2_topo_2e-2_designer_1e0_seed267/softzoo/Ep_Batch_-1_Sampling_0036_Local_0000.mp4 filter=lfs diff=lfs merge=lfs -text
+20251221_123119_update_contact_growth_branching_optim_geo_1e-2_topo_2e-2_designer_1e0_seed267/softzoo/Ep_Batch_-1_Sampling_0036_Local_0001.mp4 filter=lfs diff=lfs merge=lfs -text
+20251221_123119_update_contact_growth_branching_optim_geo_1e-2_topo_2e-2_designer_1e0_seed267/softzoo/Ep_Batch_-1_Sampling_0036_Local_0002.mp4 filter=lfs diff=lfs merge=lfs -text
+20251221_123119_update_contact_growth_branching_optim_geo_1e-2_topo_2e-2_designer_1e0_seed267/softzoo/Ep_Batch_-1_Sampling_0048_Local_0000.mp4 filter=lfs diff=lfs merge=lfs -text
+20251221_123119_update_contact_growth_branching_optim_geo_1e-2_topo_2e-2_designer_1e0_seed267/softzoo/Ep_Batch_-1_Sampling_0048_Local_0001.mp4 filter=lfs diff=lfs merge=lfs -text
+20251221_123119_update_contact_growth_branching_optim_geo_1e-2_topo_2e-2_designer_1e0_seed267/softzoo/Ep_Batch_-1_Sampling_0048_Local_0002.mp4 filter=lfs diff=lfs merge=lfs -text
+20251221_123119_update_contact_growth_branching_optim_geo_1e-2_topo_2e-2_designer_1e0_seed267/softzoo/Ep_Batch_-1_Sampling_0060_Local_0000.mp4 filter=lfs diff=lfs merge=lfs -text
+20251221_123119_update_contact_growth_branching_optim_geo_1e-2_topo_2e-2_designer_1e0_seed267/softzoo/Ep_Batch_-1_Sampling_0060_Local_0001.mp4 filter=lfs diff=lfs merge=lfs -text
+20251221_123119_update_contact_growth_branching_optim_geo_1e-2_topo_2e-2_designer_1e0_seed267/softzoo/Ep_Batch_-1_Sampling_0060_Local_0002.mp4 filter=lfs diff=lfs merge=lfs -text
+20251221_123119_update_contact_growth_branching_optim_geo_1e-2_topo_2e-2_designer_1e0_seed267/softzoo/Ep_Batch_-1_Sampling_0072_Local_0000.mp4 filter=lfs diff=lfs merge=lfs -text
+20251221_123119_update_contact_growth_branching_optim_geo_1e-2_topo_2e-2_designer_1e0_seed267/softzoo/Ep_Batch_-1_Sampling_0072_Local_0001.mp4 filter=lfs diff=lfs merge=lfs -text
+20251221_123119_update_contact_growth_branching_optim_geo_1e-2_topo_2e-2_designer_1e0_seed267/softzoo/Ep_Batch_-1_Sampling_0072_Local_0002.mp4 filter=lfs diff=lfs merge=lfs -text
+20251221_123119_update_contact_growth_branching_optim_geo_1e-2_topo_2e-2_designer_1e0_seed267/softzoo/Ep_Batch_-1_Sampling_0084_Local_0000.mp4 filter=lfs diff=lfs merge=lfs -text
+20251221_123119_update_contact_growth_branching_optim_geo_1e-2_topo_2e-2_designer_1e0_seed267/softzoo/Ep_Batch_-1_Sampling_0084_Local_0001.mp4 filter=lfs diff=lfs merge=lfs -text
+20251221_123119_update_contact_growth_branching_optim_geo_1e-2_topo_2e-2_designer_1e0_seed267/softzoo/Ep_Batch_-1_Sampling_0084_Local_0002.mp4 filter=lfs diff=lfs merge=lfs -text
+20251221_123119_update_contact_growth_branching_optim_geo_1e-2_topo_2e-2_designer_1e0_seed267/softzoo/Ep_Batch_-1_Sampling_0096_Local_0000.mp4 filter=lfs diff=lfs merge=lfs -text
+20251221_123119_update_contact_growth_branching_optim_geo_1e-2_topo_2e-2_designer_1e0_seed267/softzoo/Ep_Batch_-1_Sampling_0096_Local_0001.mp4 filter=lfs diff=lfs merge=lfs -text
+20251221_123119_update_contact_growth_branching_optim_geo_1e-2_topo_2e-2_designer_1e0_seed267/softzoo/Ep_Batch_-1_Sampling_0096_Local_0002.mp4 filter=lfs diff=lfs merge=lfs -text
+20251221_123119_update_contact_growth_branching_optim_geo_1e-2_topo_2e-2_designer_1e0_seed267/viz_gripper_dir/gripper_idx0_design_0.025031859055161476_sim_0.048984974127754474.ply filter=lfs diff=lfs merge=lfs -text
+20251221_123119_update_contact_growth_branching_optim_geo_1e-2_topo_2e-2_designer_1e0_seed267/viz_gripper_dir/gripper_idx0_design_0_sim_0.ply filter=lfs diff=lfs merge=lfs -text
+20251221_123119_update_contact_growth_branching_optim_geo_1e-2_topo_2e-2_designer_1e0_seed267/viz_gripper_dir/gripper_idx12_design_0.02506469003856182_sim_0.04899361164488112.ply filter=lfs diff=lfs merge=lfs -text
+20251221_123119_update_contact_growth_branching_optim_geo_1e-2_topo_2e-2_designer_1e0_seed267/viz_gripper_dir/gripper_idx24_design_0.025091448798775673_sim_0.04901248868407143.ply filter=lfs diff=lfs merge=lfs -text
+20251221_123119_update_contact_growth_branching_optim_geo_1e-2_topo_2e-2_designer_1e0_seed267/viz_gripper_dir/gripper_idx36_design_0.025091104209423065_sim_0.049010686585682965.ply filter=lfs diff=lfs merge=lfs -text
+20251221_123119_update_contact_growth_branching_optim_geo_1e-2_topo_2e-2_designer_1e0_seed267/viz_gripper_dir/gripper_idx48_design_0.025079460814595222_sim_0.049018914167645485.ply filter=lfs diff=lfs merge=lfs -text
+20251221_123119_update_contact_growth_branching_optim_geo_1e-2_topo_2e-2_designer_1e0_seed267/viz_gripper_dir/gripper_idx60_design_0.025112025439739227_sim_0.04900711044746002.ply filter=lfs diff=lfs merge=lfs -text
+20251221_123119_update_contact_growth_branching_optim_geo_1e-2_topo_2e-2_designer_1e0_seed267/viz_gripper_dir/gripper_idx72_design_0.02510920539498329_sim_0.04900216581916284.ply filter=lfs diff=lfs merge=lfs -text
+20251221_123119_update_contact_growth_branching_optim_geo_1e-2_topo_2e-2_designer_1e0_seed267/viz_gripper_dir/gripper_idx84_design_0.025099242106080055_sim_0.049007324762452745.ply filter=lfs diff=lfs merge=lfs -text
+20251221_123119_update_contact_growth_branching_optim_geo_1e-2_topo_2e-2_designer_1e0_seed267/viz_gripper_dir/gripper_idx96_design_0.025113938376307487_sim_0.04900558291104873.ply filter=lfs diff=lfs merge=lfs -text

20251221_123106_update_contact_growth_single_optim_geo_1e-2_topo_2e-2_designer_1e0_seed45/cmd_config.yaml

@@ -0,0 +1,19 @@
+accum_grad_sim: 3
+designer_scale: 1.0
+designer_type: single
+device: cuda:0
+env_config: gripping_a_5_HTP_a_0.5_-0.5_-0.5_0.5_a_0.5.yaml
+exp_name: update_contact_growth_single_optim_geo_1e-2_topo_2e-2_designer_1e0
+fixed_v_file: gripping_5_HTP.json
+geometry_lr: 0.01
+grad_clipping: null
+gumbel: true
+init_emb_path: asset/embeddings/stump_single_gripper_updated.npz
+max_epoch: 1000
+object_set_file: objects_set_a.json
+optim_config_path: config/optimization_config/designer_reduced.yaml
+seed: 45
+topo_lr: 0.02
+zero_grad_dims:
+- 10
+- 11

20251221_123106_update_contact_growth_single_optim_geo_1e-2_topo_2e-2_designer_1e0_seed45/config.yaml

@@ -0,0 +1,62 @@
+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
+
+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: 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: [0.5,1.0,1.0]
+  obj_x_mul: [0.,1.,0.]
+  obj_particle_id: 2
+
+  design_loss_types:  ['FingerPenLoss','SegmentGrowthLoss','BasePenLoss']
+  design_loss_coeffs: [0.5,0.5,0.5]
+
+  seed: *seed  # Placeholder, do not use
+  torch_seed: *seed  # Placeholder, do not use
+  static_as_fixed: True
+  device_memory_fraction: 0.775
+
+  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

20251221_123106_update_contact_growth_single_optim_geo_1e-2_topo_2e-2_designer_1e0_seed45/embeddings/gripper_idx0_design_0.025031859055161476_sim_0.04899017961857955.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:420c14a50b87c6ee71874f8ec41970a74379d8e075b726f5a76c0d19c9c67306
+size 514

20251221_123106_update_contact_growth_single_optim_geo_1e-2_topo_2e-2_designer_1e0_seed45/embeddings/gripper_idx0_design_0_sim_0.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:41e309db00f0e67a56d4cc7094c75b765234ca2afea955c5c9f9f1ad78d43f64
+size 462

20251221_123106_update_contact_growth_single_optim_geo_1e-2_topo_2e-2_designer_1e0_seed45/embeddings/gripper_idx12_design_0.02507173642516136_sim_0.04902134613627125.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5798eece90f06fb8ef013022c7d4f8491ba08e19f12dbad569b9c609f342468d
+size 1687

20251221_123106_update_contact_growth_single_optim_geo_1e-2_topo_2e-2_designer_1e0_seed45/embeddings/gripper_idx24_design_0.025070443749427795_sim_0.049005825172829115.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ce9d47622f31c7ffd2a7678764bf5548c79e17e5400f219c3ce0967788e6a714
+size 1811

20251221_123106_update_contact_growth_single_optim_geo_1e-2_topo_2e-2_designer_1e0_seed45/embeddings/gripper_idx36_design_0.025092074647545815_sim_0.049005767605384186.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cbb9efe6577ab841773066c56c75d0bf2dc1f4c249dee4a07d477cc5c240a881
+size 1823

20251221_123106_update_contact_growth_single_optim_geo_1e-2_topo_2e-2_designer_1e0_seed45/embeddings/gripper_idx48_design_0.025111015886068344_sim_0.049028409518280955.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6bd33332ba093f2d3a81c71a9beca2cde7ef1a6c6163eebbc36dd3c44d970f89
+size 1832

20251221_123106_update_contact_growth_single_optim_geo_1e-2_topo_2e-2_designer_1e0_seed45/embeddings/gripper_idx60_design_0.025125451385974884_sim_0.04902572558841182.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a0ac9bddee1daa5437b0a0be91b217394855fe0e57c2de91da17be2b8e6f3969
+size 1867

20251221_123106_update_contact_growth_single_optim_geo_1e-2_topo_2e-2_designer_1e0_seed45/embeddings/gripper_idx72_design_0.0251372829079628_sim_0.04903628193785208.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:21a7f7cc3d1f46e6a39ec2d8564bb307535322d97f2dbbaab6b40884c8287b0d
+size 1885

20251221_123106_update_contact_growth_single_optim_geo_1e-2_topo_2e-2_designer_1e0_seed45/embeddings/gripper_idx84_design_0.02515963464975357_sim_0.04903522726585628.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:df7c53f6a6f904120148e53d428c7b9b55ab4c55a83ca797fd8440f161f1da7f
+size 1891

20251221_123106_update_contact_growth_single_optim_geo_1e-2_topo_2e-2_designer_1e0_seed45/embeddings/gripper_idx96_design_0.025152452290058136_sim_0.04902755652300195.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d8c4004f3736e2e6cc84bd7d22df1be4bf94d39153b355d1c759d748b3ba3e2d
+size 1894

20251221_123106_update_contact_growth_single_optim_geo_1e-2_topo_2e-2_designer_1e0_seed45/softzoo/Ep_Batch_-1_Sampling_0000_Local_0000.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c7f074ed0fedef8daefddfe584fdf85b04c472c9202666c32c3dc37be12637ca
+size 445235

20251221_123106_update_contact_growth_single_optim_geo_1e-2_topo_2e-2_designer_1e0_seed45/softzoo/Ep_Batch_-1_Sampling_0000_Local_0001.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d80ce2654bb21b9591766da82c534fa36d0b81a00e91a7eca835184946a56694
+size 496913

20251221_123106_update_contact_growth_single_optim_geo_1e-2_topo_2e-2_designer_1e0_seed45/softzoo/Ep_Batch_-1_Sampling_0000_Local_0002.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2ff755747fec9e2a2f723f677643e86d8aa556552f4cf0fe5551aefa90b3e07c
+size 444770

20251221_123106_update_contact_growth_single_optim_geo_1e-2_topo_2e-2_designer_1e0_seed45/softzoo/Ep_Batch_-1_Sampling_0012_Local_0000.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:14c641ce824cde17c6cd20f83bd5e618d725a591464d2a1c43cde345b2b8b239
+size 443743

20251221_123106_update_contact_growth_single_optim_geo_1e-2_topo_2e-2_designer_1e0_seed45/softzoo/Ep_Batch_-1_Sampling_0012_Local_0001.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:88764c9fde2da53959e6e7ec996c00fa3be8f850ebb7356bf3687bab2b756bb1
+size 493852

20251221_123106_update_contact_growth_single_optim_geo_1e-2_topo_2e-2_designer_1e0_seed45/softzoo/Ep_Batch_-1_Sampling_0012_Local_0002.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9c0d21890bd99243ab1b0f49667ab991e91e575d42b08f89d1ceb93e1dfa5c17
+size 442860

20251221_123106_update_contact_growth_single_optim_geo_1e-2_topo_2e-2_designer_1e0_seed45/softzoo/Ep_Batch_-1_Sampling_0024_Local_0000.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:39ea01eefc78661c9752e554607808cbb458a6e3d4bd738c0a8b17d1223338f4
+size 444381

20251221_123106_update_contact_growth_single_optim_geo_1e-2_topo_2e-2_designer_1e0_seed45/softzoo/Ep_Batch_-1_Sampling_0024_Local_0001.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1fa698fa41e58a03d23d3fb0f5e02709ed165e9a7c07affabfbc95c03799ed02
+size 492957

20251221_123106_update_contact_growth_single_optim_geo_1e-2_topo_2e-2_designer_1e0_seed45/softzoo/Ep_Batch_-1_Sampling_0024_Local_0002.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c96f44d189bc5748a612ffc4a1a746526cc45a6817f4e2c6fef5752c24d044b8
+size 445509

20251221_123106_update_contact_growth_single_optim_geo_1e-2_topo_2e-2_designer_1e0_seed45/softzoo/Ep_Batch_-1_Sampling_0036_Local_0000.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a71203b2e0ce6ce0194bac0b5be40424cb0ebf70cfd1919ef793ca3ebcc3741
+size 442512

20251221_123106_update_contact_growth_single_optim_geo_1e-2_topo_2e-2_designer_1e0_seed45/softzoo/Ep_Batch_-1_Sampling_0036_Local_0001.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8f25541de020dcb74da54a3054eeed49ab29433cce1892cf3b28dd19e09c463f
+size 495453

20251221_123106_update_contact_growth_single_optim_geo_1e-2_topo_2e-2_designer_1e0_seed45/softzoo/Ep_Batch_-1_Sampling_0036_Local_0002.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f1e535d73b2245a5886c000502ec5f83859def09e9521364d901f4217d224217
+size 444216

20251221_123106_update_contact_growth_single_optim_geo_1e-2_topo_2e-2_designer_1e0_seed45/softzoo/Ep_Batch_-1_Sampling_0048_Local_0000.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:34643948d5e586cf456e2ff3906d2ae8f41b2401823f23530ab3b98469327f26
+size 444756

20251221_123106_update_contact_growth_single_optim_geo_1e-2_topo_2e-2_designer_1e0_seed45/softzoo/Ep_Batch_-1_Sampling_0048_Local_0001.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1efc870c649376f3036729075b99b68ee132b97f9cac8c80d93b8285d49cea7a
+size 495115

20251221_123106_update_contact_growth_single_optim_geo_1e-2_topo_2e-2_designer_1e0_seed45/softzoo/Ep_Batch_-1_Sampling_0048_Local_0002.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6420040f03f1d677be9333f15e1ea077d76db9cfce117bc60b02042ab789166c
+size 444783

20251221_123106_update_contact_growth_single_optim_geo_1e-2_topo_2e-2_designer_1e0_seed45/softzoo/Ep_Batch_-1_Sampling_0060_Local_0000.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:87142ee4e586b4fd9acd786e75f707ac762e559a987bbe059ccdd2bfb40a4e53
+size 443230

20251221_123106_update_contact_growth_single_optim_geo_1e-2_topo_2e-2_designer_1e0_seed45/softzoo/Ep_Batch_-1_Sampling_0060_Local_0001.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d3cfa4aebaf2f0c8851eab849ea33fc6ebb14e3c5198a24efc6fc1bbc2087c2a
+size 494845

20251221_123106_update_contact_growth_single_optim_geo_1e-2_topo_2e-2_designer_1e0_seed45/softzoo/Ep_Batch_-1_Sampling_0060_Local_0002.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:00d0da706ebaaf39eef41a83bc9729aa7b1662cdcb8ddef592b516a230615c73
+size 442844

20251221_123106_update_contact_growth_single_optim_geo_1e-2_topo_2e-2_designer_1e0_seed45/softzoo/Ep_Batch_-1_Sampling_0072_Local_0000.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bee0377e18f6f6dba03760384b3d0915b07a5372b4bae07670c60b94db8c9400
+size 445118

20251221_123106_update_contact_growth_single_optim_geo_1e-2_topo_2e-2_designer_1e0_seed45/softzoo/Ep_Batch_-1_Sampling_0072_Local_0001.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ac385ef0e2fe95501c56eebd43a6926ff84f0eedc6a505336314cdb2422771e3
+size 498154

20251221_123106_update_contact_growth_single_optim_geo_1e-2_topo_2e-2_designer_1e0_seed45/softzoo/Ep_Batch_-1_Sampling_0072_Local_0002.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4cdf4b93508ffd9c2aaaeefd8aa5c4a2d2ae2ab7c5a4f9863d4e9dab157bd7b7
+size 443788

20251221_123106_update_contact_growth_single_optim_geo_1e-2_topo_2e-2_designer_1e0_seed45/softzoo/Ep_Batch_-1_Sampling_0084_Local_0000.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d06fadc9de1e0fb1391f09b0a5e5d263cd6413b9cb6fff23a70ca899985d01fe
+size 443032

20251221_123106_update_contact_growth_single_optim_geo_1e-2_topo_2e-2_designer_1e0_seed45/softzoo/Ep_Batch_-1_Sampling_0084_Local_0001.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fcccc0183eed7e735e2e2c104288def3a569e2e40fa14a4a37d16f5e5001a2a8
+size 491530

20251221_123106_update_contact_growth_single_optim_geo_1e-2_topo_2e-2_designer_1e0_seed45/softzoo/Ep_Batch_-1_Sampling_0084_Local_0002.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dadbaf748cca24d570618f4d426ce249e6b68740711b693e524f7d2d2aa47f31
+size 442278

20251221_123106_update_contact_growth_single_optim_geo_1e-2_topo_2e-2_designer_1e0_seed45/softzoo/Ep_Batch_-1_Sampling_0096_Local_0000.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:565eb4f2a7eebaff43260dd43e5213561aaea5004bc3b66d283932ffad795ded
+size 445639

20251221_123106_update_contact_growth_single_optim_geo_1e-2_topo_2e-2_designer_1e0_seed45/softzoo/Ep_Batch_-1_Sampling_0096_Local_0001.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9d4328f8e13fbdfac659559fbdc423413dd7ae8489c42cefa87bee450c72815a
+size 494053

20251221_123106_update_contact_growth_single_optim_geo_1e-2_topo_2e-2_designer_1e0_seed45/softzoo/Ep_Batch_-1_Sampling_0096_Local_0002.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9c47ca2337241b6ed2981397c42b905be1e4e75454002b3ba9615f13420ccef7
+size 443976

20251221_123106_update_contact_growth_single_optim_geo_1e-2_topo_2e-2_designer_1e0_seed45/softzoo/ckpt/args.json

@@ -0,0 +1,228 @@
+{
+    "action_space": "actuation",
+    "action_v_strength": 0.35,
+    "active": true,
+    "actuation_activation": "linear",
+    "actuation_omega": [
+        30.0
+    ],
+    "annotated_pcd_n_voxels": 60,
+    "annotated_pcd_passive_geometry_mul": 0.5,
+    "annotated_pcd_passive_softness_mul": 10,
+    "annotated_pcd_path": null,
+    "closed_loop_actuation_omega": [
+        30.0
+    ],
+    "closed_loop_n_sin_waves": 4,
+    "closed_loop_sinwave_activation": "Tanh",
+    "closed_loop_sinwave_hidden_filters": [
+        32,
+        32
+    ],
+    "closed_loop_sinwave_obs_names": [
+        "com",
+        "objective"
+    ],
+    "controller_lr": 0.003,
+    "controller_mlp_activation": "Tanh",
+    "controller_mlp_final_activation": null,
+    "controller_mlp_hidden_filters": [
+        32,
+        32
+    ],
+    "controller_obs_names": [
+        "com",
+        "objective"
+    ],
+    "controller_type": "all_on",
+    "cppn_activation_options": [
+        "sin",
+        "sigmoid"
+    ],
+    "cppn_activation_repeat": 10,
+    "cppn_coord_input_names": [
+        "x",
+        "y",
+        "z",
+        "d_xy",
+        "d_yz",
+        "d_xz",
+        "d_xyz"
+    ],
+    "cppn_n_hiddens": 3,
+    "cppn_seed_meshes": [],
+    "custom_gravity": false,
+    "design_device": "cpu",
+    "design_loss_coeffs": [
+        0.5,
+        0.5,
+        0.5
+    ],
+    "design_loss_types": [
+        "FingerPenLoss",
+        "SegmentGrowthLoss",
+        "BasePenLoss"
+    ],
+    "designer_geometry_offset": 0.5,
+    "designer_lr": 0.1,
+    "designer_softness_offset": 0.5,
+    "designer_type": "mlp",
+    "device_memory_fraction": 0.775,
+    "dump_rendering_data": false,
+    "env": "land_environment",
+    "env_config_file": "gripping_a_5_HTP_a_0.5_-0.5_-0.5_0.5_a_0.5.yaml",
+    "eval": false,
+    "final_target_idx": null,
+    "fixed_v": "gripping_5_HTP.json",
+    "gen_pointe_bounding_box": {
+        "max": [
+            1.5,
+            0.1,
+            1.5
+        ],
+        "min": [
+            -1.5,
+            -3.5,
+            -1.5
+        ]
+    },
+    "goal": [
+        0.8,
+        0.0,
+        0.0,
+        1700
+    ],
+    "load_args": null,
+    "load_controller": null,
+    "load_designer": null,
+    "load_rl_controller": null,
+    "log_every_iter": 1,
+    "log_reward": false,
+    "loss_coefs": [
+        0.5,
+        1.0,
+        1.0
+    ],
+    "loss_landscape_vbr_grid_index": [
+        0,
+        0,
+        0
+    ],
+    "loss_landscape_vbr_n_trials": 10,
+    "loss_landscape_vbr_trial_type": "geometry",
+    "loss_landscape_vbr_value_range": [
+        0.0,
+        1.0
+    ],
+    "loss_types": [
+        "ObjectBalancedLoss",
+        "ContactLoss",
+        "ThrowingObjectLoss"
+    ],
+    "mesh_dir": "./local/meshes/fantasy_horse",
+    "mesh_num_points": 5000,
+    "mlp_activation": "Tanh",
+    "mlp_coord_input_names": [
+        "x",
+        "y",
+        "z",
+        "d_xy",
+        "d_yz",
+        "d_xz",
+        "d_xyz"
+    ],
+    "mlp_filters": [
+        32,
+        32
+    ],
+    "mlp_seed_meshes": [],
+    "n_frames": 100,
+    "n_iters": 301,
+    "n_sin_waves": 4,
+    "non_taichi_device": "torch_cpu",
+    "num_fingers": 2,
+    "obj_initial_pos": [
+        0,
+        0,
+        0
+    ],
+    "obj_particle_id": 2,
+    "obj_v_mul": [
+        1.0,
+        0.0,
+        0.0
+    ],
+    "obj_x_mul": [
+        0.0,
+        1.0,
+        0.0
+    ],
+    "objective_reward_mode": null,
+    "objects_set_file": "objects_set_a.json",
+    "optimize_controller": true,
+    "optimize_design_types": [
+        "geometry",
+        "softness_E",
+        "softness_v",
+        "suction_val"
+    ],
+    "optimize_designer": true,
+    "out_dir": "./logs/20251221_123106_update_contact_growth_single_optim_geo_1e-2_topo_2e-2_designer_1e0_seed45/softzoo",
+    "recenter_mesh_target": false,
+    "render_every_iter": 8,
+    "rotation_up_direction": [
+        0.0,
+        1.0,
+        0.0
+    ],
+    "save_controller": false,
+    "save_designer": false,
+    "save_every_iter": 12,
+    "sdf_basis_actuator_mul": 1.0,
+    "sdf_basis_coefs_activation": "linear",
+    "sdf_basis_init_coefs_actuator": null,
+    "sdf_basis_init_coefs_actuator_direction": null,
+    "sdf_basis_init_coefs_geometry": null,
+    "sdf_basis_init_coefs_softness": null,
+    "sdf_basis_mesh_paths": [],
+    "sdf_basis_n_voxels": 60,
+    "sdf_basis_passive_geometry_mul": 0.5,
+    "sdf_basis_passive_softness_mul": 10,
+    "sdf_basis_pcd_paths": [],
+    "sdf_basis_use_global_coefs": false,
+    "seed": 22,
+    "set_design_types": [
+        "geometry",
+        "softness_E",
+        "softness_v",
+        "actuator",
+        "actuator_direction",
+        "is_passive_fixed",
+        "suction_val"
+    ],
+    "sin_omega_mul": 10.0,
+    "static_as_fixed": true,
+    "substep_freq": 100,
+    "torch_seed": 22,
+    "v_following_mode": 0,
+    "v_following_v_mul": [
+        1.0,
+        1.0,
+        1.0
+    ],
+    "v_mul": [
+        1.0,
+        0.0,
+        0.0
+    ],
+    "wass_barycenter_init_coefs_actuator": null,
+    "wass_barycenter_init_coefs_geometry": null,
+    "wass_barycenter_init_coefs_softness": null,
+    "wass_barycenter_passive_geometry_mul": 0.5,
+    "wass_barycenter_passive_softness_mul": 10,
+    "x_mul": [
+        1.0,
+        0.0,
+        0.0
+    ]
+}

20251221_123106_update_contact_growth_single_optim_geo_1e-2_topo_2e-2_designer_1e0_seed45/softzoo/ckpt/env_config.yaml

@@ -0,0 +1,137 @@
+ENVIRONMENT:
+  use_semantic_occupancy: False
+  CUSTOM:
+    has_matter_on_ground: false
+    matter_id: 4
+    matter_materials: []
+    matter_padding:
+    - 32
+    - 3
+    - 32
+    matter_sample_density: 8
+    matter_semantic_id: 4
+    matter_thickness: 0.02
+    matter_youngs_modulus: 100000.0
+    randomize_terrain: false
+  ITEMS:
+  - semantic_id: 0
+    type: Static.BoundingBox
+  - dampen_coeff: 1.0
+    friction: 0.5
+    max_height: 0.1
+    min_height: 0.1
+    semantic_id: 0
+    surface: Surface.Slip
+    type: Static.Terrain
+  - file_path: /LOCAL3/anguyen/nghiale/Data/mujoco_scanned_objects/models/5_HTP/model.obj
+    ground_height: 0.101
+    initial_position:
+    - 0.55
+    - 0.0
+    - 0.4
+    initial_rotation:
+    - 0.5
+    - -0.5
+    - -0.5
+    - 0.5
+    initial_velocity:
+    - 0.0
+    - 0.0
+    - 0.0
+    material: FakeRigid
+    particle_id: 2
+    sample_density: 16
+    scale:
+    - 0.5
+    - 0.5
+    - 0.5
+    semantic_id: 2
+    type: Primitive.Mesh
+    particle_info:
+        p_rho_0: !!float 7.e+2 # [6e+2, 5e+3]
+  actuation_strength: 0.3
+  design_space: pbr
+  design_space_config:
+    base_shape:
+      initial_position:
+      - 0.55
+      - 0.225
+      - 0.4
+      initial_velocity:
+      - 0.0
+      - 0.0
+      - 0.0
+      material: DiffAquaMuscle
+      particle_id: 3
+      particle_info:
+        E_0: 7.5e+4
+        nu_0: 0.3
+        p_rho_0: 1000.0
+      sample_density: 42
+      semantic_id: 3
+      size:
+      - 0.1
+      - 0.1
+      - 0.1
+      type: Primitive.Box
+    initial_principle_direction:
+    - 1.0
+    - 0.0
+    - 0.0
+    n_actuators: 81
+    p_rho_lower_bound_mul: 0.1
+  objective: throw_object
+  objective_config:
+    forward_direction:
+    - 0.0
+    - 1.0
+    - 0.0
+    max_episode_steps: 100
+    obj_particles_id: 2
+    reward_mode: final
+  observation_space:
+  - time
+  - com
+  use_renderer: false
+RENDERER:
+  GGUI:
+    ambient_light:
+    - 0.5
+    - 0.5
+    - 0.5
+    camera_lookat:
+    - 0.5
+    - 0.1
+    - 0.5
+    camera_position:
+    - 0.5
+    - 0.25
+    - 0.05
+    ground_surface_cmap: textures/ground.png
+    particle_coloring_mode: actuation
+    particle_radius: 0.002
+    res:
+    - 1920
+    - 1080
+  type: ggui
+SIMULATOR:
+  base_active_materials: []
+  checkpoint_cache_device: torch_cpu
+  default_dt: 1.e-4
+  dim: 3
+  gravity:
+  - 0.0
+  - -3.8
+  - 0.0
+  max_actuation: 81
+  max_num_particles: 55000
+  max_substeps: 10000
+  max_substeps_local: 25
+  needs_grad: true
+  padding:
+  - 28
+  - 3
+  - 28
+  quality: 0.82
+  use_checkpointing: true
+  use_dynamic_field: false