Upload folder using huggingface_hub

20251228_125255_stiffness_check_geo_1e-2_designer_1e0_seed67/cmd_config.yaml

@@ -0,0 +1,31 @@
+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: stiffness_check_geo_1e-2_designer_1e0
+fixed_v_file: gripping_5_HTP.json
+geometry_lr: 0.01
+grad_clipping: null
+gripper_dim: 12
+gumbel: false
+init_emb_path: asset/embeddings/long_single_stiff_check.npz
+max_epoch: 1000
+num_fingers: 1
+num_segments: 10
+object_set_file: sphere_only.json
+optim_config_path: config/optimization_config/stiffness_check.yaml
+seed: 67
+topo_lr: 0.0
+zero_grad_dims:
+- 0
+- 1
+- 2
+- 3
+- 4
+- 5
+- 6
+- 7
+- 9
+- 10
+- 11

20251228_125255_stiffness_check_geo_1e-2_designer_1e0_seed67/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: sphere_only.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: [ThrowingObjectLoss]
+  loss_coefs: [1.0]
+  obj_x_mul: [1.,0.,0.]
+  obj_particle_id: 2
+
+  design_loss_types:  ['SegmentGrowthLoss','BasePenLoss']
+  design_loss_coeffs: [1.0,0.5]
+
+  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

20251228_125255_stiffness_check_geo_1e-2_designer_1e0_seed67/embeddings/gripper_idx0_design_0.02552613615989685_sim_0.0006819934414754989.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e3563e7a0d2c3d655d7a32a287648c39a495a967d844ca0297f9360f7d250f71
+size 453

20251228_125255_stiffness_check_geo_1e-2_designer_1e0_seed67/embeddings/gripper_idx0_design_0_sim_0.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a75d12f4d3a7b0018985c530cb9960a3e3fd6078a93d2a21e1a53f49f173abe2
+size 453

20251228_125255_stiffness_check_geo_1e-2_designer_1e0_seed67/embeddings/gripper_idx108_design_0.025525812059640884_sim_0.0006826081400229804.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c4042ef7babfa230d3c2e83ad423ea6b67743c71ac4397fce9516a61e9bb7587
+size 473

20251228_125255_stiffness_check_geo_1e-2_designer_1e0_seed67/embeddings/gripper_idx120_design_0.02552577666938305_sim_0.0006826077304953565.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c19f5fdecb785432c0ab47fc9d41f143aba63e521124afaf9ccd5f4e5eeaaa14
+size 473

20251228_125255_stiffness_check_geo_1e-2_designer_1e0_seed67/embeddings/gripper_idx12_design_0.025526102632284164_sim_0.0006820819456301447.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0276666924d34ef04584016849059c144b3a068b54a92b05da467044e680df6a
+size 470

20251228_125255_stiffness_check_geo_1e-2_designer_1e0_seed67/embeddings/gripper_idx132_design_0.025525739416480064_sim_0.000682599660678015.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf1ec9c856b863edf28503addb9fb219c739ca848aa638444952b5d35120f95d
+size 473

20251228_125255_stiffness_check_geo_1e-2_designer_1e0_seed67/embeddings/gripper_idx144_design_0.025525705888867378_sim_0.0006825837662899648.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ab55f3ca61e0fb7a099250f69b566c9f212808ec96d24660983591961445b2ba
+size 472

20251228_125255_stiffness_check_geo_1e-2_designer_1e0_seed67/embeddings/gripper_idx156_design_0.025525668635964394_sim_0.0006825581915291112.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:039e23e13b433aa6dc2aefed09e7a9502eab8bdd1c28d4fe865316e999d32f8c
+size 473

20251228_125255_stiffness_check_geo_1e-2_designer_1e0_seed67/embeddings/gripper_idx168_design_0.025525636970996857_sim_0.000682532201451822.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2a151574909bf70dc09fee789856e17a9075bf17008dfa5bc55a23f2a8436bc5
+size 473

20251228_125255_stiffness_check_geo_1e-2_designer_1e0_seed67/embeddings/gripper_idx180_design_0.02552688494324684_sim_0.0006825010727393734.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4a22a20bbc00223660fff7a3d34592c53053fb3645a5ee493a87e0bacb32a2a1
+size 473

20251228_125255_stiffness_check_geo_1e-2_designer_1e0_seed67/embeddings/gripper_idx192_design_0.025526849552989006_sim_0.0006824645103797883.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cb732b72f47a0b70603e9904ec8ca0f565108341eaa64de45013d2df629bd708
+size 473

20251228_125255_stiffness_check_geo_1e-2_designer_1e0_seed67/embeddings/gripper_idx204_design_0.02552810125052929_sim_0.0006824269900939493.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:00b1178d166086d261c3b9e557777772f6b1475cdec5cd203cfe136e9e4cda67
+size 473

20251228_125255_stiffness_check_geo_1e-2_designer_1e0_seed67/embeddings/gripper_idx216_design_0.025529351085424423_sim_0.0006823828609017946.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bfd556e1cf56bd6d8e481a7acaee31a4406cfe6395add31b585d1d6033b93856
+size 473

20251228_125255_stiffness_check_geo_1e-2_designer_1e0_seed67/embeddings/gripper_idx228_design_0.025529321283102036_sim_0.0006823402954481316.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6773ffd1db4afc12155fa63d562a61625f1c3532b836a5571ae0206feaa5f6c4
+size 474

20251228_125255_stiffness_check_geo_1e-2_designer_1e0_seed67/embeddings/gripper_idx240_design_0.0255292858928442_sim_0.000682300390845725.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c68c70b8b0472aa7cc785f77846bfc88515463c805ba78087096cb6c35a19ed8
+size 473

20251228_125255_stiffness_check_geo_1e-2_designer_1e0_seed67/embeddings/gripper_idx24_design_0.02552478201687336_sim_0.0006821738309966231.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:36916e4685f41ae244f650444eac4b926964c9be14bb2d3d984c84c328c47161
+size 471

20251228_125255_stiffness_check_geo_1e-2_designer_1e0_seed67/embeddings/gripper_idx252_design_0.025529254227876663_sim_0.000681121086752895.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ab319ecbbbd35d77a2a4f2dd0f0fc97e639136dcbb95a5f4baa8c57238faf888
+size 473

20251228_125255_stiffness_check_geo_1e-2_designer_1e0_seed67/embeddings/gripper_idx264_design_0.025529222562909126_sim_0.000680877170005513.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cb37436067c9336225648e5a4c07a95781717cc3785935de02e36df500fe9501
+size 473

20251228_125255_stiffness_check_geo_1e-2_designer_1e0_seed67/embeddings/gripper_idx276_design_0.025529194623231888_sim_0.0006822882448273435.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:55508831a06db36374ef23aff9748f7e3bee64abf46f31bdab292dbe98f26730
+size 472

20251228_125255_stiffness_check_geo_1e-2_designer_1e0_seed67/embeddings/gripper_idx288_design_0.02552788145840168_sim_0.0006823023907137891.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:09a6df44c6ef8c31089ebc425eb985b971a5a49fb9e294450b1c270d044e243c
+size 473

20251228_125255_stiffness_check_geo_1e-2_designer_1e0_seed67/embeddings/gripper_idx300_design_0.025527849793434143_sim_0.0006823006597657489.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c97a54405a7d5b2cff7fedb5d971ea4fe670aed86c4e3ea41fb3ac0b4d2799c5
+size 473

20251228_125255_stiffness_check_geo_1e-2_designer_1e0_seed67/embeddings/gripper_idx312_design_0.025527823716402054_sim_0.0006822884340392521.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:12679d0df79248a4cdbb9f8cf1b5ec914bb235c3f86da54a795929a3e4a77276
+size 473

20251228_125255_stiffness_check_geo_1e-2_designer_1e0_seed67/embeddings/gripper_idx324_design_0.025527797639369965_sim_0.0006822645708172892.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b0814a592b701ab08dbd66ab403b4773c040d015ef3caebd89465d8b8aebfb26
+size 473

20251228_125255_stiffness_check_geo_1e-2_designer_1e0_seed67/embeddings/gripper_idx336_design_0.025527767837047577_sim_0.00068223828333932.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e04dd5219d551c9e13c1ea9982e90d303150684ba5403e89ecb43f33a087f41
+size 473

20251228_125255_stiffness_check_geo_1e-2_designer_1e0_seed67/embeddings/gripper_idx348_design_0.02552773989737034_sim_0.0006822116589349876.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d7cd1796abf5c4eb806811881442c5cbf1bb609c1bd483e1e910b006a8888bd9
+size 473

20251228_125255_stiffness_check_geo_1e-2_designer_1e0_seed67/embeddings/gripper_idx36_design_0.025524748489260674_sim_0.0006822685399930685.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:db8e25070da0ff23f9cb831de2d0fac70d8db1bcb8f3125a3fc757bcf78590f9
+size 470

20251228_125255_stiffness_check_geo_1e-2_designer_1e0_seed67/embeddings/gripper_idx48_design_0.02552470751106739_sim_0.0006823717879393176.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:344cebe2f7aac00ca10273d9308d1b985a610c59258deb973790fa3eaa4e98f0
+size 471

20251228_125255_stiffness_check_geo_1e-2_designer_1e0_seed67/embeddings/gripper_idx60_design_0.025524672120809555_sim_0.0006821873645168537.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:96ab5ac0100072988d626b65cb31fa2e7a2daee9a40fffa66ab88a1f9f1d1860
+size 472

20251228_125255_stiffness_check_geo_1e-2_designer_1e0_seed67/embeddings/gripper_idx72_design_0.02552463486790657_sim_0.0006816447173802114.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:90dc4180ffce7b51423500f70849ead2b57b92813916de5b1e6441fb805bef4c
+size 472

20251228_125255_stiffness_check_geo_1e-2_designer_1e0_seed67/embeddings/gripper_idx84_design_0.025524603202939034_sim_0.0006825766136284046.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:37706d03f2cb51954d581a913d313e79e34aa03c10e447e5d1e96fc89a0eb8e4
+size 473

20251228_125255_stiffness_check_geo_1e-2_designer_1e0_seed67/embeddings/gripper_idx96_design_0.02552584558725357_sim_0.0006826002065670498.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a94715ee8dbfa71ec49a179bb33bb11656dad74a085f169da7cea2c59e91c469
+size 473

20251228_125255_stiffness_check_geo_1e-2_designer_1e0_seed67/softzoo/Ep_Batch_-1_Sampling_0000_Local_0000.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4c2e38b23ab8d598cb1d6eaaae286c8ec13b28c72474c39105cb211ced2c3951
+size 455028

20251228_125255_stiffness_check_geo_1e-2_designer_1e0_seed67/softzoo/Ep_Batch_-1_Sampling_0012_Local_0000.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e8579abc50396cca4534b729893570e5abf19ff69615eaad2db571a0b41ed704
+size 452534

20251228_125255_stiffness_check_geo_1e-2_designer_1e0_seed67/softzoo/Ep_Batch_-1_Sampling_0024_Local_0000.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1c1b18ded0c8a99560725a40f87e82c9a2ba6b09e22771667cb48765211c59b8
+size 451684

20251228_125255_stiffness_check_geo_1e-2_designer_1e0_seed67/softzoo/Ep_Batch_-1_Sampling_0036_Local_0000.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:57e85606bb7eff1cb90c58068deaafc5c42e55f932a0885381bf330658df33b0
+size 454048

20251228_125255_stiffness_check_geo_1e-2_designer_1e0_seed67/softzoo/Ep_Batch_-1_Sampling_0048_Local_0000.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0131e8d732a153beb1892b0a26ba5e37df97799ade0e3f0371829476587868e8
+size 453988

20251228_125255_stiffness_check_geo_1e-2_designer_1e0_seed67/softzoo/Ep_Batch_-1_Sampling_0060_Local_0000.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5d5676e5b1e56133dc58c426d719f4cc91be2187f01335db0497a75f5bc07bd7
+size 454493

20251228_125255_stiffness_check_geo_1e-2_designer_1e0_seed67/softzoo/Ep_Batch_-1_Sampling_0072_Local_0000.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6ec32e516a05250a60406bd0ac03803e381eb4d617569438d76e02e06a29a4dc
+size 455973

20251228_125255_stiffness_check_geo_1e-2_designer_1e0_seed67/softzoo/Ep_Batch_-1_Sampling_0084_Local_0000.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1f88038be8eec58e4ea2df47ddfa3edbaf2c683dfc80d4be1bab96dd82df9185
+size 452586

20251228_125255_stiffness_check_geo_1e-2_designer_1e0_seed67/softzoo/Ep_Batch_-1_Sampling_0096_Local_0000.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:980e61b045853407e8046cc52083226f0a7c26c0cdd82c05b4e77cd592a53e7f
+size 454126

20251228_125255_stiffness_check_geo_1e-2_designer_1e0_seed67/softzoo/Ep_Batch_-1_Sampling_0108_Local_0000.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:56ef54fc2ab2daf3ddef618d51019437a58510bda7a8af8bd089fbfb0d601f04
+size 454460

20251228_125255_stiffness_check_geo_1e-2_designer_1e0_seed67/softzoo/Ep_Batch_-1_Sampling_0120_Local_0000.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f605e0549eb1dd54b6d7bb5a917d08b0962d86558cea5a35c269061be39fec76
+size 454370

20251228_125255_stiffness_check_geo_1e-2_designer_1e0_seed67/softzoo/Ep_Batch_-1_Sampling_0132_Local_0000.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b031c299127fa18283caa9e7c970d68b4c243ac1fcc91c9cda1f5bcfb28b2fe8
+size 453223

20251228_125255_stiffness_check_geo_1e-2_designer_1e0_seed67/softzoo/Ep_Batch_-1_Sampling_0144_Local_0000.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:05bf0fa350fa92c8eb81a3a0f5619946e2fec5db1b36ac2b71ed2fea9e0a43ec
+size 454284

20251228_125255_stiffness_check_geo_1e-2_designer_1e0_seed67/softzoo/Ep_Batch_-1_Sampling_0156_Local_0000.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e8f906d70b47faf323aca0b569a7967d984144b3d3f539bc0a43685e59b1f01
+size 455330

20251228_125255_stiffness_check_geo_1e-2_designer_1e0_seed67/softzoo/Ep_Batch_-1_Sampling_0168_Local_0000.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:41fd2e85c94919fd337fd247c52841d692abbc40b8b80b5f7a43b9659be5625a
+size 453018

20251228_125255_stiffness_check_geo_1e-2_designer_1e0_seed67/softzoo/Ep_Batch_-1_Sampling_0180_Local_0000.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:568d3e339e51d100dc6b87ba7544afe864e39473b24cd44e49737c8566296c53
+size 452177