debug_server/softzoo/ckpt/args.json

{
    "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": [
        "com",
        "objective"
    ],
    "controller_lr": 0.003,
    "controller_mlp_activation": "Tanh",
    "controller_mlp_final_activation": null,
    "controller_mlp_hidden_filters": [
        32,
        32
    ],
    "controller_obs_names": [
        "com",
        "objective"
    ],
    "controller_type": "all_on",
    "cppn_activation_options": [
        "sin",
        "sigmoid"
    ],
    "cppn_activation_repeat": 10,
    "cppn_coord_input_names": [
        "x",
        "y",
        "z",
        "d_xy",
        "d_yz",
        "d_xz",
        "d_xyz"
    ],
    "cppn_n_hiddens": 3,
    "cppn_seed_meshes": [],
    "custom_gravity": false,
    "design_device": "cpu",
    "design_loss_coeffs": [
        1.0,
        1.0,
        1.0
    ],
    "design_loss_types": [
        "FingerPenLoss",
        "SegmentGrowthLoss",
        "BasePenLoss"
    ],
    "designer_geometry_offset": 0.5,
    "designer_lr": 0.1,
    "designer_softness_offset": 0.5,
    "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": {
        "max": [
            1.5,
            0.1,
            1.5
        ],
        "min": [
            -1.5,
            -3.5,
            -1.5
        ]
    },
    "goal": [
        0.8,
        0.0,
        0.0,
        1700
    ],
    "load_args": null,
    "load_controller": null,
    "load_designer": null,
    "load_rl_controller": null,
    "log_every_iter": 1,
    "log_reward": false,
    "loss_coefs": [
        1.0,
        1.0,
        1.0
    ],
    "loss_landscape_vbr_grid_index": [
        0,
        0,
        0
    ],
    "loss_landscape_vbr_n_trials": 10,
    "loss_landscape_vbr_trial_type": "geometry",
    "loss_landscape_vbr_value_range": [
        0.0,
        1.0
    ],
    "loss_types": [
        "ObjectBalancedLoss",
        "ContactLoss",
        "DiffOrientationLoss"
    ],
    "mesh_dir": "./local/meshes/fantasy_horse",
    "mesh_num_points": 5000,
    "mlp_activation": "Tanh",
    "mlp_coord_input_names": [
        "x",
        "y",
        "z",
        "d_xy",
        "d_yz",
        "d_xz",
        "d_xyz"
    ],
    "mlp_filters": [
        32,
        32
    ],
    "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,
    "obj_v_mul": [
        1.0,
        0.0,
        0.0
    ],
    "obj_x_mul": [
        0.0,
        1.0,
        0.0
    ],
    "objective_reward_mode": null,
    "objects_set_file": "objects_set_a.json",
    "optimize_controller": true,
    "optimize_design_types": [
        "geometry",
        "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": [
        0.0,
        1.0,
        0.0
    ],
    "save_controller": false,
    "save_designer": false,
    "save_every_iter": 1,
    "sdf_basis_actuator_mul": 1.0,
    "sdf_basis_coefs_activation": "linear",
    "sdf_basis_init_coefs_actuator": null,
    "sdf_basis_init_coefs_actuator_direction": null,
    "sdf_basis_init_coefs_geometry": null,
    "sdf_basis_init_coefs_softness": null,
    "sdf_basis_mesh_paths": [],
    "sdf_basis_n_voxels": 60,
    "sdf_basis_passive_geometry_mul": 0.5,
    "sdf_basis_passive_softness_mul": 10,
    "sdf_basis_pcd_paths": [],
    "sdf_basis_use_global_coefs": false,
    "seed": 22,
    "set_design_types": [
        "geometry",
        "softness_E",
        "softness_v",
        "actuator",
        "actuator_direction",
        "is_passive_fixed",
        "suction_val"
    ],
    "sin_omega_mul": 10.0,
    "static_as_fixed": true,
    "substep_freq": 100,
    "torch_seed": 22,
    "v_following_mode": 0,
    "v_following_v_mul": [
        1.0,
        1.0,
        1.0
    ],
    "v_mul": [
        1.0,
        0.0,
        0.0
    ],
    "wass_barycenter_init_coefs_actuator": null,
    "wass_barycenter_init_coefs_geometry": null,
    "wass_barycenter_init_coefs_softness": null,
    "wass_barycenter_passive_geometry_mul": 0.5,
    "wass_barycenter_passive_softness_mul": 10,
    "x_mul": [
        1.0,
        0.0,
        0.0
    ]
}