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  1. .gitattributes +309 -0
  2. cmd_config.yaml +15 -0
  3. config.yaml +71 -0
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cmd_config.yaml ADDED
@@ -0,0 +1,15 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ accum_grad_sim: 1
2
+ designer_type: pbr
3
+ env_config: aioz_baseline_pbr.yaml
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+ exp_name: debug
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+ fixed_v_file: gripping_5_HTP.json
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+ grad_clipping: 1.0
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+ lr: 1.0
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+ max_epoch: 2400
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+ min_delta: 0.0
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+ monitor_metric: eval/sim_loss
11
+ object_set_file: objects_set_a_1.json
12
+ optim_config_path: config/optimization_config/baseline/pbr.yaml
13
+ patience: 100
14
+ seed: 4234
15
+ stop_mode: min
config.yaml ADDED
@@ -0,0 +1,71 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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+ exp_name: particle_based_representation
2
+ seed: &seed 22232
3
+ out_dir: ./logs/
4
+ tensorboard_log_dir: runs/
5
+ save_every_iter: &log_freq 12
6
+ 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
8
+
9
+ cond_config:
10
+ - name: "SoftZoo_Sim"
11
+ grad_scale: !!float 1e6
12
+ grad_clamp: !!float 1e0
13
+ calc_gradient: True
14
+ logging_bool: True
15
+ # - name: "Dist_To_Origin"
16
+ # grad_scale: !!float 1e0
17
+ # grad_clamp: !!float 1e-2
18
+ # calc_gradient: True
19
+ # logging_bool: True
20
+ cond_overall_logging: True
21
+
22
+ softzoo_config:
23
+ custom_gravity: False
24
+ # eval: True
25
+ out_dir: null # Placeholder, need to be set in run.py
26
+ fixed_v: default.json
27
+ objects_set_file: objects_set_a_1.json
28
+ env_config_file: aioz_sim.yaml # Placeholder, need to be inserted manually
29
+ layout_config_file: double.json
30
+ robot_rot: [1.,0.,0.,0.] # [w,x,y,z]
31
+ robot_shift: [0.,0.,0.] # [x,y,z]
32
+ desc_prompt: base.txt
33
+ viewpoint: [-1.,-0.25,-0.1]
34
+ save_every_iter: *log_freq
35
+ render_every_iter: 8
36
+ n_iters: 301
37
+ n_frames: 100
38
+
39
+ designer_config: diff_conditioning/simulation_env/designer/encoded_finger/config/double.json
40
+
41
+ controller_type: all_on
42
+ active: True
43
+ action_v_strength: 0.35
44
+
45
+ loss_types: [ObjectBalancedLoss,ContactLoss,ThrowingObjectLoss]
46
+ loss_coefs: [1.e-4,1.e-5,1.0]
47
+ obj_x_mul: [0.,1.,0.]
48
+ com_x_mul: [1.,2.,1.]
49
+ obj_particle_id: 2
50
+
51
+ design_loss_types: ['FingerPenLoss','SelfFingerPenLoss','CLIPLoss','AngleLoss']
52
+ design_loss_coeffs: [10.0,0.01,1.e-5,0.05]
53
+
54
+
55
+ seed: *seed # Placeholder, do not use
56
+ torch_seed: *seed # Placeholder, do not use
57
+ static_as_fixed: True
58
+ device_memory_fraction: 0.55
59
+
60
+ optimize_designer: True
61
+ optimize_design_types: ['geometry','softness_E','softness_v','suction_val']
62
+ designer_lr: 0.1
63
+ optimize_controller: False
64
+ gen_pointe_bounding_box:
65
+ max: [1.5,0.1,1.5]
66
+ # mean: [0.,0.,0.]
67
+ min: [-1.5,-3.0,-1.5]
68
+
69
+ design_device: cuda:0
70
+ obj_initial_pos: [0,0,0]
71
+ num_fingers: 2
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