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{
"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": [
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"objective"
],
"controller_lr": 0.003,
"controller_mlp_activation": "Tanh",
"controller_mlp_final_activation": null,
"controller_mlp_hidden_filters": [
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32
],
"controller_obs_names": [
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],
"controller_type": "all_on",
"cppn_activation_options": [
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],
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"cppn_coord_input_names": [
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"z",
"d_xy",
"d_yz",
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],
"cppn_n_hiddens": 3,
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"custom_gravity": false,
"design_device": "cpu",
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1.0,
1.0
],
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],
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"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": {
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0.1,
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],
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]
},
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0.0,
0.0,
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],
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"load_controller": null,
"load_designer": null,
"load_rl_controller": null,
"log_every_iter": 1,
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"loss_coefs": [
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1.0,
1.0
],
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0,
0
],
"loss_landscape_vbr_n_trials": 10,
"loss_landscape_vbr_trial_type": "geometry",
"loss_landscape_vbr_value_range": [
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1.0
],
"loss_types": [
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"ContactLoss",
"DiffOrientationLoss"
],
"mesh_dir": "./local/meshes/fantasy_horse",
"mesh_num_points": 5000,
"mlp_activation": "Tanh",
"mlp_coord_input_names": [
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"y",
"z",
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"d_yz",
"d_xz",
"d_xyz"
],
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],
"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,
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0.0,
0.0
],
"obj_x_mul": [
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1.0,
0.0
],
"objective_reward_mode": null,
"objects_set_file": "objects_set_a.json",
"optimize_controller": true,
"optimize_design_types": [
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"softness_E",
"softness_v",
"suction_val"
],
"optimize_designer": true,
"out_dir": "./logs/debug_server/softzoo",
"recenter_mesh_target": false,
"render_every_iter": 1,
"rotation_up_direction": [
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0.0
],
"save_controller": false,
"save_designer": false,
"save_every_iter": 1,
"sdf_basis_actuator_mul": 1.0,
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"sdf_basis_init_coefs_softness": null,
"sdf_basis_mesh_paths": [],
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"sdf_basis_pcd_paths": [],
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"seed": 22,
"set_design_types": [
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"softness_E",
"softness_v",
"actuator",
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"is_passive_fixed",
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],
"sin_omega_mul": 10.0,
"static_as_fixed": true,
"substep_freq": 100,
"torch_seed": 22,
"v_following_mode": 0,
"v_following_v_mul": [
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1.0,
1.0
],
"v_mul": [
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0.0,
0.0
],
"wass_barycenter_init_coefs_actuator": null,
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"wass_barycenter_init_coefs_softness": null,
"wass_barycenter_passive_geometry_mul": 0.5,
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"x_mul": [
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0.0,
0.0
]
} |