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debug_server/config.yaml

@@ -1,5 +1,5 @@
 exp_name: debug_server
-seed: &seed 310
+seed: &seed 2010445
 out_dir: ./logs/
 tensorboard_log_dir: runs/
 save_every_iter: &log_freq 1
@@ -36,6 +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: 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
@@ -55,7 +56,7 @@ softzoo_config:
   seed: *seed  # Placeholder, do not use
   torch_seed: *seed  # Placeholder, do not use
   static_as_fixed: True
-  device_memory_fraction: 0.7
+  device_memory_fraction: 0.8
 
   optimize_designer: True
   optimize_design_types: ['geometry','softness','suction_val']

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-size 571330
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debug_server/softzoo/ckpt/args.json

@@ -57,7 +57,7 @@
     "designer_lr": 0.1,
     "designer_softness_offset": 0.5,
     "designer_type": "mlp",
-    "device_memory_fraction": 0.7,
+    "device_memory_fraction": 0.8,
     "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",
@@ -148,6 +148,7 @@
         0.0
     ],
     "objective_reward_mode": null,
+    "objects_set_file": "objects_set_a.json",
     "optimize_controller": true,
     "optimize_design_types": [
         "geometry",
@@ -178,7 +179,7 @@
     "sdf_basis_passive_softness_mul": 10,
     "sdf_basis_pcd_paths": [],
     "sdf_basis_use_global_coefs": false,
-    "seed": 310,
+    "seed": 2010445,
     "set_design_types": [
         "geometry",
         "softness",
@@ -191,7 +192,7 @@
     "static_as_fixed": true,
     "substep_freq": 100,
     "surface_threshold": 0.02,
-    "torch_seed": 310,
+    "torch_seed": 2010445,
     "v_following_mode": 0,
     "v_following_v_mul": [
         1.0,

debug_server/softzoo/ckpt/env_config.yaml

@@ -1,4 +1,5 @@
 ENVIRONMENT:
+  use_semantic_occupancy: False
   CUSTOM:
     has_matter_on_ground: false
     matter_id: 4
@@ -54,7 +55,7 @@ ENVIRONMENT:
     base_shape:
       initial_position:
       - 0.55
-      - 0.205
+      - 0.215
       - 0.4
       initial_velocity:
       - 0.0
@@ -65,7 +66,7 @@ ENVIRONMENT:
       particle_info:
         E_0: 10000.0
         p_rho_0: 1000.0
-      sample_density: 32
+      sample_density: 42
       semantic_id: 3
       size:
       - 0.1
@@ -122,7 +123,7 @@ SIMULATOR:
   - -3.8
   - 0.0
   max_actuation: 81
-  max_num_particles: 70000
+  max_num_particles: 55000
   max_substeps: 7000
   max_substeps_local: 20
   needs_grad: true
@@ -130,6 +131,6 @@ SIMULATOR:
   - 28
   - 3
   - 28
-  quality: 1.0
+  quality: 0.825
   use_checkpointing: true
   use_dynamic_field: false

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