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#8
by MNghia - opened
base: refs/heads/main
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from: refs/pr/8
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  1. .gitattributes +54 -0
  2. optim_branching_gripper_primitives_seed89/cmd_config.yaml +15 -0
  3. optim_branching_gripper_primitives_seed89/config.yaml +80 -0
  4. optim_branching_gripper_primitives_seed89/embeddings/gripper_idx0_design_0_sim_0.npz +3 -0
  5. optim_branching_gripper_primitives_seed89/embeddings/gripper_idx101_design_0.0_sim_530.58720560455.npz +3 -0
  6. optim_branching_gripper_primitives_seed89/embeddings/gripper_idx103_design_0.0_sim_534.4493617362784.npz +3 -0
  7. optim_branching_gripper_primitives_seed89/embeddings/gripper_idx104_design_0.0_sim_530.2108648490645.npz +3 -0
  8. optim_branching_gripper_primitives_seed89/embeddings/gripper_idx105_design_0.0_sim_526.5123396219179.npz +3 -0
  9. optim_branching_gripper_primitives_seed89/embeddings/gripper_idx108_design_0.0_sim_525.6539275639705.npz +3 -0
  10. optim_branching_gripper_primitives_seed89/embeddings/gripper_idx109_design_0.0_sim_532.1120627512917.npz +3 -0
  11. optim_branching_gripper_primitives_seed89/embeddings/gripper_idx111_design_0.0_sim_532.7243731445127.npz +3 -0
  12. optim_branching_gripper_primitives_seed89/embeddings/gripper_idx112_design_0.0_sim_535.0312857765744.npz +3 -0
  13. optim_branching_gripper_primitives_seed89/embeddings/gripper_idx114_design_0.0_sim_526.5209510012527.npz +3 -0
  14. optim_branching_gripper_primitives_seed89/embeddings/gripper_idx117_design_0.0_sim_530.837186377717.npz +3 -0
  15. optim_branching_gripper_primitives_seed89/embeddings/gripper_idx118_design_0.0_sim_534.1197333666444.npz +3 -0
  16. optim_branching_gripper_primitives_seed89/embeddings/gripper_idx119_design_0.0_sim_532.9798851751906.npz +3 -0
  17. optim_branching_gripper_primitives_seed89/embeddings/gripper_idx120_design_0.0_sim_531.633430058308.npz +3 -0
  18. optim_branching_gripper_primitives_seed89/embeddings/gripper_idx121_design_0.0_sim_527.045090157799.npz +3 -0
  19. optim_branching_gripper_primitives_seed89/embeddings/gripper_idx123_design_0.0_sim_526.9806065442936.npz +3 -0
  20. optim_branching_gripper_primitives_seed89/embeddings/gripper_idx125_design_0.0_sim_530.5975180243918.npz +3 -0
  21. optim_branching_gripper_primitives_seed89/embeddings/gripper_idx126_design_0.0_sim_532.0506691616728.npz +3 -0
  22. optim_branching_gripper_primitives_seed89/embeddings/gripper_idx127_design_0.0_sim_532.2924787235478.npz +3 -0
  23. optim_branching_gripper_primitives_seed89/embeddings/gripper_idx128_design_0.0_sim_531.6607686529228.npz +3 -0
  24. optim_branching_gripper_primitives_seed89/embeddings/gripper_idx129_design_0.0_sim_528.6014135833423.npz +3 -0
  25. optim_branching_gripper_primitives_seed89/embeddings/gripper_idx130_design_0.0_sim_526.0135121950802.npz +3 -0
  26. optim_branching_gripper_primitives_seed89/embeddings/gripper_idx132_design_0.0_sim_525.8849077374948.npz +3 -0
  27. optim_branching_gripper_primitives_seed89/embeddings/gripper_idx133_design_0.0_sim_532.93952131476.npz +3 -0
  28. optim_branching_gripper_primitives_seed89/embeddings/gripper_idx134_design_0.0_sim_530.0003940299916.npz +3 -0
  29. optim_branching_gripper_primitives_seed89/embeddings/gripper_idx135_design_0.0_sim_538.5148499877172.npz +3 -0
  30. optim_branching_gripper_primitives_seed89/embeddings/gripper_idx136_design_0.0_sim_530.2216949914533.npz +3 -0
  31. optim_branching_gripper_primitives_seed89/embeddings/gripper_idx138_design_0.0_sim_525.740007727127.npz +3 -0
  32. optim_branching_gripper_primitives_seed89/embeddings/gripper_idx139_design_0.0_sim_529.8221102210268.npz +3 -0
  33. optim_branching_gripper_primitives_seed89/embeddings/gripper_idx13_design_0.0_sim_533.5503860867744.npz +3 -0
  34. optim_branching_gripper_primitives_seed89/embeddings/gripper_idx140_design_0.0_sim_526.9019014667674.npz +3 -0
  35. optim_branching_gripper_primitives_seed89/embeddings/gripper_idx142_design_0.0_sim_530.2173748130894.npz +3 -0
  36. optim_branching_gripper_primitives_seed89/embeddings/gripper_idx146_design_0.0_sim_524.2286913353955.npz +3 -0
  37. optim_branching_gripper_primitives_seed89/embeddings/gripper_idx147_design_0.0_sim_528.9930166486691.npz +3 -0
  38. optim_branching_gripper_primitives_seed89/embeddings/gripper_idx148_design_0.0_sim_526.5791301877454.npz +3 -0
  39. optim_branching_gripper_primitives_seed89/embeddings/gripper_idx149_design_0.0_sim_537.3688398646866.npz +3 -0
  40. optim_branching_gripper_primitives_seed89/embeddings/gripper_idx150_design_0.0_sim_531.493382302837.npz +3 -0
  41. optim_branching_gripper_primitives_seed89/embeddings/gripper_idx151_design_0.0_sim_535.1634257614181.npz +3 -0
  42. optim_branching_gripper_primitives_seed89/embeddings/gripper_idx152_design_0.0_sim_530.1415875523915.npz +3 -0
  43. optim_branching_gripper_primitives_seed89/embeddings/gripper_idx153_design_0.0_sim_531.7260194686365.npz +3 -0
  44. optim_branching_gripper_primitives_seed89/embeddings/gripper_idx154_design_0.0_sim_526.8841648571229.npz +3 -0
  45. optim_branching_gripper_primitives_seed89/embeddings/gripper_idx155_design_0.0_sim_527.900265034784.npz +3 -0
  46. optim_branching_gripper_primitives_seed89/embeddings/gripper_idx156_design_0.0_sim_526.2945158500244.npz +3 -0
  47. optim_branching_gripper_primitives_seed89/embeddings/gripper_idx157_design_0.0_sim_536.2040478816709.npz +3 -0
  48. optim_branching_gripper_primitives_seed89/embeddings/gripper_idx158_design_0.0_sim_531.1403819533309.npz +3 -0
  49. optim_branching_gripper_primitives_seed89/embeddings/gripper_idx159_design_0.0_sim_537.7053685829954.npz +3 -0
  50. optim_branching_gripper_primitives_seed89/embeddings/gripper_idx15_design_0.0_sim_532.7687675246393.npz +3 -0
.gitattributes CHANGED
@@ -1250,3 +1250,57 @@ optim_branching_gripper_primitives_seed22/viz_gripper_dir/gripper_idx3_design_0.
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  optim_branching_gripper_primitives_seed22/viz_gripper_dir/gripper_idx8_design_0.0_sim_534.0787972765814.ply filter=lfs diff=lfs merge=lfs -text
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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  optim_branching_gripper_primitives_seed22/viz_gripper_dir/gripper_idx4_design_0.0_sim_529.170245522668.ply filter=lfs diff=lfs merge=lfs -text
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  optim_branching_gripper_primitives_seed22/viz_gripper_dir/gripper_idx6_design_0.0_sim_533.7468615338672.ply filter=lfs diff=lfs merge=lfs -text
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  optim_branching_gripper_primitives_seed22/viz_gripper_dir/gripper_idx8_design_0.0_sim_534.0787972765814.ply filter=lfs diff=lfs merge=lfs -text
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+ optim_branching_gripper_primitives_seed89/softzoo/Ep_Batch_0_Sampling_0000_Local_0000.mp4 filter=lfs diff=lfs merge=lfs -text
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+ optim_branching_gripper_primitives_seed89/softzoo/Ep_Batch_120_Sampling_0120_Local_0120.mp4 filter=lfs diff=lfs merge=lfs -text
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+ optim_branching_gripper_primitives_seed89/softzoo/Ep_Batch_160_Sampling_0160_Local_0160.mp4 filter=lfs diff=lfs merge=lfs -text
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+ optim_branching_gripper_primitives_seed89/softzoo/Ep_Batch_200_Sampling_0200_Local_0200.mp4 filter=lfs diff=lfs merge=lfs -text
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+ optim_branching_gripper_primitives_seed89/softzoo/Ep_Batch_240_Sampling_0240_Local_0240.mp4 filter=lfs diff=lfs merge=lfs -text
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+ optim_branching_gripper_primitives_seed89/softzoo/Ep_Batch_280_Sampling_0280_Local_0280.mp4 filter=lfs diff=lfs merge=lfs -text
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+ optim_branching_gripper_primitives_seed89/softzoo/Ep_Batch_320_Sampling_0320_Local_0320.mp4 filter=lfs diff=lfs merge=lfs -text
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+ optim_branching_gripper_primitives_seed89/softzoo/Ep_Batch_360_Sampling_0360_Local_0360.mp4 filter=lfs diff=lfs merge=lfs -text
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+ optim_branching_gripper_primitives_seed89/softzoo/Ep_Batch_400_Sampling_0400_Local_0400.mp4 filter=lfs diff=lfs merge=lfs -text
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+ optim_branching_gripper_primitives_seed89/softzoo/Ep_Batch_40_Sampling_0040_Local_0040.mp4 filter=lfs diff=lfs merge=lfs -text
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+ optim_branching_gripper_primitives_seed89/softzoo/Ep_Batch_440_Sampling_0440_Local_0440.mp4 filter=lfs diff=lfs merge=lfs -text
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+ optim_branching_gripper_primitives_seed89/softzoo/Ep_Batch_480_Sampling_0480_Local_0480.mp4 filter=lfs diff=lfs merge=lfs -text
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+ optim_branching_gripper_primitives_seed89/softzoo/Ep_Batch_520_Sampling_0520_Local_0520.mp4 filter=lfs diff=lfs merge=lfs -text
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+ optim_branching_gripper_primitives_seed89/softzoo/Ep_Batch_560_Sampling_0560_Local_0560.mp4 filter=lfs diff=lfs merge=lfs -text
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+ optim_branching_gripper_primitives_seed89/softzoo/Ep_Batch_600_Sampling_0600_Local_0600.mp4 filter=lfs diff=lfs merge=lfs -text
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+ optim_branching_gripper_primitives_seed89/softzoo/Ep_Batch_640_Sampling_0640_Local_0640.mp4 filter=lfs diff=lfs merge=lfs -text
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+ optim_branching_gripper_primitives_seed89/softzoo/Ep_Batch_680_Sampling_0680_Local_0680.mp4 filter=lfs diff=lfs merge=lfs -text
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+ optim_branching_gripper_primitives_seed89/softzoo/Ep_Batch_720_Sampling_0720_Local_0720.mp4 filter=lfs diff=lfs merge=lfs -text
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+ optim_branching_gripper_primitives_seed89/softzoo/Ep_Batch_760_Sampling_0760_Local_0760.mp4 filter=lfs diff=lfs merge=lfs -text
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+ optim_branching_gripper_primitives_seed89/softzoo/Ep_Batch_800_Sampling_0800_Local_0800.mp4 filter=lfs diff=lfs merge=lfs -text
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+ optim_branching_gripper_primitives_seed89/softzoo/Ep_Batch_80_Sampling_0080_Local_0080.mp4 filter=lfs diff=lfs merge=lfs -text
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+ optim_branching_gripper_primitives_seed89/softzoo/Ep_Batch_840_Sampling_0840_Local_0840.mp4 filter=lfs diff=lfs merge=lfs -text
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+ optim_branching_gripper_primitives_seed89/softzoo/Ep_Batch_880_Sampling_0880_Local_0880.mp4 filter=lfs diff=lfs merge=lfs -text
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+ optim_branching_gripper_primitives_seed89/softzoo/Ep_Batch_920_Sampling_0920_Local_0920.mp4 filter=lfs diff=lfs merge=lfs -text
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+ optim_branching_gripper_primitives_seed89/softzoo/design/mesh_Batch_120_Sampling_0120_Local_0120.ply filter=lfs diff=lfs merge=lfs -text
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+ optim_branching_gripper_primitives_seed89/viz_gripper_dir/gripper_idx120_design_0.0_sim_531.633430058308.ply filter=lfs diff=lfs merge=lfs -text
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+ optim_branching_gripper_primitives_seed89/viz_gripper_dir/gripper_idx160_design_0.0_sim_532.9314779540367.ply filter=lfs diff=lfs merge=lfs -text
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+ optim_branching_gripper_primitives_seed89/viz_gripper_dir/gripper_idx240_design_0.0_sim_533.2292587859283.ply filter=lfs diff=lfs merge=lfs -text
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+ optim_branching_gripper_primitives_seed89/viz_gripper_dir/gripper_idx280_design_0.0_sim_450.0569711385294.ply filter=lfs diff=lfs merge=lfs -text
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+ optim_branching_gripper_primitives_seed89/viz_gripper_dir/gripper_idx320_design_0.0_sim_447.47393895052915.ply filter=lfs diff=lfs merge=lfs -text
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+ optim_branching_gripper_primitives_seed89/viz_gripper_dir/gripper_idx360_design_0.0_sim_113.57893757375336.ply filter=lfs diff=lfs merge=lfs -text
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+ optim_branching_gripper_primitives_seed89/viz_gripper_dir/gripper_idx400_design_0.0_sim_532.666904754997.ply filter=lfs diff=lfs merge=lfs -text
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+ optim_branching_gripper_primitives_seed89/viz_gripper_dir/gripper_idx40_design_0.0_sim_533.5866090170986.ply filter=lfs diff=lfs merge=lfs -text
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+ optim_branching_gripper_primitives_seed89/viz_gripper_dir/gripper_idx440_design_0.0_sim_530.4761522451814.ply filter=lfs diff=lfs merge=lfs -text
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+ optim_branching_gripper_primitives_seed89/viz_gripper_dir/gripper_idx560_design_0.0_sim_532.631215208606.ply filter=lfs diff=lfs merge=lfs -text
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+ optim_branching_gripper_primitives_seed89/viz_gripper_dir/gripper_idx600_design_0.0_sim_532.747924661165.ply filter=lfs diff=lfs merge=lfs -text
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+ optim_branching_gripper_primitives_seed89/viz_gripper_dir/gripper_idx640_design_0.0_sim_531.7780025528882.ply filter=lfs diff=lfs merge=lfs -text
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+ optim_branching_gripper_primitives_seed89/viz_gripper_dir/gripper_idx720_design_0.0_sim_531.8545439528178.ply filter=lfs diff=lfs merge=lfs -text
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+ optim_branching_gripper_primitives_seed89/viz_gripper_dir/gripper_idx80_design_0.0_sim_533.1218532110129.ply filter=lfs diff=lfs merge=lfs -text
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+ optim_branching_gripper_primitives_seed89/viz_gripper_dir/gripper_idx880_design_0.0_sim_529.3297805415748.ply filter=lfs diff=lfs merge=lfs -text
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+ optim_branching_gripper_primitives_seed89/viz_gripper_dir/gripper_idx920_design_0.0_sim_530.5728059235556.ply filter=lfs diff=lfs merge=lfs -text
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+ optim_single_gripper_primitives_seed67/softzoo/Ep_Batch_0_Sampling_0000_Local_0000.mp4 filter=lfs diff=lfs merge=lfs -text
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+ optim_single_gripper_primitives_seed67/softzoo/Ep_Batch_120_Sampling_0120_Local_0120.mp4 filter=lfs diff=lfs merge=lfs -text
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+ optim_single_gripper_primitives_seed67/softzoo/Ep_Batch_160_Sampling_0160_Local_0160.mp4 filter=lfs diff=lfs merge=lfs -text
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+ optim_single_gripper_primitives_seed67/softzoo/Ep_Batch_200_Sampling_0200_Local_0200.mp4 filter=lfs diff=lfs merge=lfs -text
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+ optim_single_gripper_primitives_seed67/softzoo/Ep_Batch_240_Sampling_0240_Local_0240.mp4 filter=lfs diff=lfs merge=lfs -text
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+ optim_single_gripper_primitives_seed67/softzoo/Ep_Batch_280_Sampling_0280_Local_0280.mp4 filter=lfs diff=lfs merge=lfs -text
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+ optim_single_gripper_primitives_seed67/softzoo/Ep_Batch_320_Sampling_0320_Local_0320.mp4 filter=lfs diff=lfs merge=lfs -text
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+ optim_single_gripper_primitives_seed67/softzoo/Ep_Batch_40_Sampling_0040_Local_0040.mp4 filter=lfs diff=lfs merge=lfs -text
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+ optim_single_gripper_primitives_seed67/softzoo/Ep_Batch_80_Sampling_0080_Local_0080.mp4 filter=lfs diff=lfs merge=lfs -text
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+ optim_single_gripper_primitives_seed67/softzoo/design/mesh_Batch_280_Sampling_0280_Local_0280.ply filter=lfs diff=lfs merge=lfs -text
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+ optim_single_gripper_primitives_seed67/viz_gripper_dir/gripper_idx200_design_0.0_sim_527.9618762456248.ply filter=lfs diff=lfs merge=lfs -text
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+ optim_single_gripper_primitives_seed67/viz_gripper_dir/gripper_idx40_design_0.0_sim_533.1781238043175.ply filter=lfs diff=lfs merge=lfs -text
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+ optim_single_gripper_primitives_seed67/viz_gripper_dir/gripper_idx80_design_8.598956546812531e-10_sim_531.7315075038383.ply filter=lfs diff=lfs merge=lfs -text
optim_branching_gripper_primitives_seed89/cmd_config.yaml ADDED
@@ -0,0 +1,15 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ accum_grad_sim: 8
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+ designer_type: branching
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+ device: cuda:0
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+ env_config: gripping_a_5_HTP_a_0.5_-0.5_-0.5_0.5_a_0.5.yaml
5
+ exp_name: optim_branching_gripper_primitives
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+ fixed_v_file: gripping_5_HTP.json
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+ geometry_lr: 0.01
8
+ grad_clipping: 2.0
9
+ gumbel: true
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+ init_emb_path: asset/embeddings/stump_branching_gripper_50.npz
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+ max_epoch: 1000
12
+ object_set_file: objects_set_a.json
13
+ optim_config_path: config/debug_server.yaml
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+ seed: 89
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+ topo_lr: 0.1
optim_branching_gripper_primitives_seed89/config.yaml ADDED
@@ -0,0 +1,80 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ exp_name: debug_server
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+ seed: &seed 22
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+ out_dir: ./logs/
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+ tensorboard_log_dir: runs/
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+ save_every_iter: &log_freq 40
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+ total_steps: 512 # 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
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+
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+ cond_config:
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+ - name: "SoftZoo_Sim"
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+ grad_scale: !!float 1e6
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+ grad_clamp: !!float 1e0
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+ calc_gradient: True
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+ logging_bool: True
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+ # - name: "Dist_To_Origin"
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+ # grad_scale: !!float 1e0
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+ # grad_clamp: !!float 1e-2
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+ # calc_gradient: True
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+ # logging_bool: True
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+ cond_overall_logging: True
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+
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+ preload_emb:
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+ condition_embedding:
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+ shape: [1,3,224,224]
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+ path: asset/img_asset/ver_rec.png
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+ random: False
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+ diffusion_noise:
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+ shape: [2,6,1024]
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+ path: asset/embeddings/base_noise_cone.npy
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+ upsample_noise:
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+ shape: [1,6,3072]
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+ path: asset/embeddings/upsample_noise_cone.npy
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+
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+ softzoo_config:
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+ custom_gravity: False
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+ # eval: True
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+ out_dir: null # Placeholder, need to be set in run.py
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+ fixed_v: gripping_5_HTP.json
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+ objects_set_file: objects_set_a.json
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+ env_config_file: aioz_sim.yaml # Placeholder, need to be inserted manually
41
+ save_every_iter: *log_freq
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+ render_every_iter: *log_freq
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+ n_iters: 301
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+ n_frames: 100
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+
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+ controller_type: all_on
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+ active: True
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+ action_v_strength: 0.35
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+
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+ loss_types: [ObjectBalancedLoss,ContactLoss,DiffOrientationLoss]
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+ loss_coefs: [1.0,1.0,1.0]
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+ obj_x_mul: [0.,1.,0.]
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+ obj_particle_id: 2
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+ surface_threshold: 0.02
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+
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+ seed: *seed # Placeholder, do not use
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+ torch_seed: *seed # Placeholder, do not use
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+ static_as_fixed: True
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+ device_memory_fraction: 0.8
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+
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+ optimize_designer: True
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+ optimize_design_types: ['geometry','softness','suction_val']
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+ designer_lr: 0.1
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+ optimize_controller: True
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+ gen_pointe_bounding_box:
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+ max: [1.5,0.1,1.5]
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+ # mean: [0.,0.,0.]
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+ min: [-1.5,-3.5,-1.5]
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+
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+ design_device: cpu
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+ obj_initial_pos: [0,0,0]
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+ num_fingers: 2
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+
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+ pointe_config:
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+ base_model_name: base40M
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+ device: cuda:1
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+ guidance_scale: [3.0, 0.0]
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+ num_points: [1024, 3072]
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+ sampling_mode: ddim
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