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README.md

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+---
+license: cc-by-nc-4.0
+---
+
+# SCFields Release Artifacts
+
+This dataset repository contains assets, contact-field datasets, and contact-field checkpoints used by the SCFields release code.
+
+## Layout
+
+- `assets/tools`: generated TacSL tool assets.
+- `assets/peeler_raw`: raw original peeler assets.
+- `assets/peeler_combined`: combined peeler assets.
+- `data/sim/tools`: simulated contact-field data for tools (`tools_mixed`).
+- `data/sim/peelers`: simulated contact-field data for peelers (`peelers_combined_new`).
+- `data/real/scraper`: converted real scraper contact-field data (`real_scraper_corrected_lambda1`).
+- `checkpoints/contact_field/tools_sim`: tool contact-field checkpoint pretrained on simulated data.
+- `checkpoints/contact_field/tools_real`: tool contact-field checkpoint finetuned on real data.
+- `checkpoints/contact_field/peelers_sim`: peeler contact-field checkpoint pretrained on simulated data.
+- `checkpoints/contact_field/peelers_real`: peeler contact-field checkpoint finetuned on real data.
+
+Each checkpoint folder contains:
+
+- `model.ckpt`: PyTorch Lightning checkpoint.
+- `config.yaml`: the accompanying training configuration.

assets/peeler_combined/raw/combine_peelers.py

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+import trimesh
+import os
+import subprocess
+import numpy as np
+import random
+from itertools import product
+
+# --- Configuration ---
+HEAD_DIR = "peeler_heads"
+HANDLE_DIR = "peeler_handles"
+OUTPUT_DIR = "combined_peelers_remeshed"
+SCALE_RANGE = (0.8, 1.2)
+TRANSLATION_OVERLAP = 0.002
+WORKER_SCRIPT = "repair_worker.py" # Ensure this matches your filename
+
+os.makedirs(OUTPUT_DIR, exist_ok=True)
+TEMP_FILE = "temp_raw_transfer.obj"
+
+def get_interface_centroid(mesh, z_plane=0.0):
+    """Finds centroid of vertices on the cut plane."""
+    tolerance = 1e-4
+    indices = np.where(np.abs(mesh.vertices[:, 2] - z_plane) < tolerance)[0]
+    if len(indices) == 0: return np.array([0, 0, 0])
+    return np.mean(mesh.vertices[indices], axis=0)
+
+def process_and_combine(head_file, handle_file):
+    try:
+        # 1. Load Meshes
+        head = trimesh.load(os.path.join(HEAD_DIR, head_file), process=False)
+        handle = trimesh.load(os.path.join(HANDLE_DIR, handle_file), process=False)
+
+        # 2. Random Scaling
+        head_scale = [random.uniform(*SCALE_RANGE) for _ in range(3)]
+        handle_scale = [random.uniform(*SCALE_RANGE) for _ in range(3)]
+        head.apply_scale(head_scale)
+        handle.apply_scale(handle_scale)
+
+        # 3. Alignment
+        # Center head interface
+        # hc = get_interface_centroid(head)
+        # head.apply_translation([-hc[0], -hc[1], 0])
+        # head.apply_translation([0, -hc[1], 0])
+        
+        # Center handle interface
+        # hnc = get_interface_centroid(handle)
+        # handle.apply_translation([-hnc[0], -hnc[1], 0])
+        # handle.apply_translation([0, -hnc[1], 0])
+
+        # 4. Concatenate
+        # handle.apply_translation([0, 0, -TRANSLATION_OVERLAP])
+        combined = trimesh.util.concatenate([head, handle])
+        
+        # Fix normals before sending to MeshLab (helps Remeshing orientation)
+        combined.fix_normals()
+        
+        # Save Temp File
+        combined.export(TEMP_FILE)
+
+        # 5. Call the Worker Process (The Fix)
+        scale_str = f"h{np.mean(head_scale):.2f}_hnd{np.mean(handle_scale):.2f}"
+        final_name = f"{os.path.splitext(head_file)[0]}_{os.path.splitext(handle_file)[0]}_{scale_str}.obj"
+        final_path = os.path.join(OUTPUT_DIR, final_name)
+
+        # Run the separate python process to avoid DLL crash
+        cmd = ["python", WORKER_SCRIPT, TEMP_FILE, final_path]
+        result = subprocess.run(cmd, capture_output=True, text=True)
+
+        if result.returncode == 0:
+            # --- NEW STEP: FINAL Z-TRANSLATION (BLADE TO Z=0) ---
+            try:
+                # 6. Reload the newly repaired, watertight mesh
+                final_mesh = trimesh.load(final_path)
+
+                # Find the minimum Z coordinate (the blade tip)
+                min_z = final_mesh.bounds[0, 2] # bounds[0] is the min XYZ vector
+
+                # Translate the entire mesh upwards by -min_z
+                final_mesh.apply_translation([0, 0, -min_z])
+                
+                # Re-save the final, translated mesh
+                final_mesh.export(final_path)
+                
+                print(f"✅ Generated and Aligned: {final_name}")
+
+            except Exception as load_error:
+                print(f"❌ Failed final alignment for {final_name}. Check integrity. Error: {load_error}")
+
+    except Exception as e:
+        print(f"Script Error: {e}")
+
+# --- Execution ---
+head_files = [f for f in os.listdir(HEAD_DIR) if f.endswith(('.stl', '.obj'))]
+handle_files = [f for f in os.listdir(HANDLE_DIR) if f.endswith(('.stl', '.obj'))]
+
+# Clean start
+if os.path.exists(TEMP_FILE): os.remove(TEMP_FILE)
+
+for h_file, hnd_file in product(head_files, handle_files):
+    process_and_combine(h_file, hnd_file)
+
+# Cleanup
+if os.path.exists(TEMP_FILE): os.remove(TEMP_FILE)

assets/peeler_combined/raw/material.mtl

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+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.40000000 0.40000000 0.40000000
+Kd 0.40000000 0.40000000 0.40000000
+Ks 0.40000000 0.40000000 0.40000000
+Ns 1.00000000
+map_Kd material_0.png

assets/peeler_combined/raw/peeler_handles/peeler_1_handle.mtl

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+# Blender 4.4.3 MTL File: 'None'
+# www.blender.org

assets/peeler_combined/raw/peeler_handles/peeler_1_handle.obj

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+# Blender 4.4.3
+# www.blender.org
+mtllib peeler_1_handle.mtl
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assets/peeler_combined/raw/peeler_handles/peeler_3_handle.mtl

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assets/peeler_combined/raw/peeler_handles/peeler_4_handle.mtl

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assets/peeler_combined/raw/peeler_handles/peeler_4_handle.obj

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assets/peeler_combined/raw/peeler_handles/peeler_6_handle.mtl

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+# Blender 4.4.3 MTL File: 'None'
+# www.blender.org

assets/peeler_combined/raw/peeler_handles/peeler_6_handle.obj

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assets/peeler_combined/raw/peeler_handles/peeler_9_handle.mtl

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+# Blender 4.4.3 MTL File: 'None'
+# www.blender.org

assets/peeler_combined/raw/peeler_handles/peeler_9_handle.obj

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assets/peeler_combined/raw/peeler_handles/rectangular_handle.mtl

@@ -0,0 +1,2 @@
+# Blender 4.4.3 MTL File: 'None'
+# www.blender.org

assets/peeler_combined/raw/peeler_handles/rectangular_handle.obj

@@ -0,0 +1,39 @@
+# Blender 4.4.3
+# www.blender.org
+mtllib rectangular_handle.mtl
+o Cube.002
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+vt 0.125000 0.750000
+vt 0.875000 0.500000
+vt 0.875000 0.750000
+s 0
+f 1/1/1 2/2/1 4/3/1 3/4/1
+f 3/4/2 4/3/2 8/5/2 7/6/2
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+f 3/11/5 7/6/5 5/8/5 1/12/5
+f 8/5/6 4/13/6 2/14/6 6/7/6

assets/peeler_combined/raw/peeler_handles/tool_cylinder_6.obj

@@ -0,0 +1,198 @@
+# Generated tool shape: tool_cylinder_6
+# Vertices
+v 0.008401 0.000000 0.000000
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+v 0.008240 -0.001639 0.099022
+v 0.000000 0.000000 0.000000
+v 0.000000 0.000000 0.099022
+
+# Faces
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assets/peeler_combined/raw/peeler_handles/tool_hex_prism_12.obj

@@ -0,0 +1,42 @@
+# Generated tool shape: tool_hex_prism_12
+# Vertices
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+v 0.005912 -0.010240 0.096797
+v 0.000000 0.000000 0.000000
+v 0.000000 0.000000 0.096797
+
+# Faces
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+f 2 8 7
+f 2 3 8
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assets/peeler_combined/raw/peeler_handles/tool_rectangle_28.obj

@@ -0,0 +1,24 @@
+# Generated tool shape: tool_rectangle_28
+# Vertices
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+v 0.007807 -0.007583 0.097687
+v 0.007807 0.007583 0.097687
+v -0.007807 0.007583 0.097687
+
+# Faces
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+f 1 3 4
+f 5 8 7
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+f 4 3 7
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+f 1 5 6
+f 1 6 2
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assets/peeler_combined/raw/peeler_heads/peeler_10_head.mtl

@@ -0,0 +1,2 @@
+# Blender 4.4.3 MTL File: 'None'
+# www.blender.org

assets/peeler_combined/raw/peeler_heads/peeler_11_head.mtl

@@ -0,0 +1,2 @@
+# Blender 4.4.3 MTL File: 'None'
+# www.blender.org

assets/peeler_combined/raw/peeler_heads/peeler_1_head.mtl

@@ -0,0 +1,2 @@
+# Blender 4.4.3 MTL File: 'None'
+# www.blender.org

assets/peeler_combined/raw/peeler_heads/peeler_1_head.obj

@@ -0,0 +1,1575 @@
+# Blender 4.4.3
+# www.blender.org
+mtllib peeler_1_head.mtl
+o PotatoBlade
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assets/peeler_combined/raw/peeler_heads/peeler_3_head.mtl

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assets/peeler_combined/raw/peeler_heads/peeler_4_head.mtl

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+# www.blender.org

assets/peeler_combined/raw/peeler_heads/peeler_4_head.obj

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assets/peeler_combined/raw/peeler_heads/peeler_6_head.mtl

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+# www.blender.org

assets/peeler_combined/raw/peeler_heads/peeler_6_head.obj

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assets/peeler_combined/raw/peeler_heads/peeler_7_head.mtl

@@ -0,0 +1,2 @@
+# Blender 4.4.3 MTL File: 'None'
+# www.blender.org

assets/peeler_combined/raw/peeler_heads/peeler_8_head.mtl

@@ -0,0 +1,2 @@
+# Blender 4.4.3 MTL File: 'None'
+# www.blender.org

assets/peeler_combined/raw/peeler_heads/peeler_9_head.mtl

@@ -0,0 +1,2 @@
+# Blender 4.4.3 MTL File: 'None'
+# www.blender.org

assets/peeler_combined/raw/render_peeler_handles.py

@@ -0,0 +1,387 @@
+"""
+Script to render all meshes in the peeler_handles directory laid out in a row.
+"""
+import os
+import numpy as np
+import trimesh
+import matplotlib.pyplot as plt
+from mpl_toolkits.mplot3d import Axes3D
+from pathlib import Path
+
+
+def load_all_meshes(mesh_dir):
+    """
+    Load all OBJ files from the specified directory.
+    
+    Args:
+        mesh_dir (str): Path to the directory containing mesh files
+        
+    Returns:
+        dict: Dictionary mapping filenames to trimesh objects
+    """
+    meshes = {}
+    mesh_path = Path(mesh_dir)
+    
+    if not mesh_path.exists():
+        raise FileNotFoundError(f"Directory not found: {mesh_dir}")
+    
+    # Get all .obj files
+    obj_files = sorted(mesh_path.glob("*.obj"))
+    
+    if not obj_files:
+        raise FileNotFoundError(f"No .obj files found in {mesh_dir}")
+    
+    print(f"Found {len(obj_files)} mesh files:")
+    for obj_file in obj_files:
+        print(f"  - {obj_file.name}")
+        try:
+            mesh = trimesh.load(str(obj_file), process=False)
+            meshes[obj_file.stem] = mesh
+        except Exception as e:
+            print(f"  Warning: Failed to load {obj_file.name}: {e}")
+    
+    return meshes
+
+
+def get_mesh_bounds(mesh):
+    """Get the bounding box dimensions of a mesh."""
+    bounds = mesh.bounds
+    dimensions = bounds[1] - bounds[0]
+    return bounds, dimensions
+
+
+def arrange_meshes_in_row(meshes, spacing=0.05, y_offset=0.0, z_offset=0.0, x_start=0.0):
+    """
+    Arrange meshes in a row with consistent spacing.
+    
+    Args:
+        meshes (dict): Dictionary of mesh name to trimesh object
+        spacing (float): Space between meshes in meters
+        y_offset (float): Y-axis offset for the entire row
+        z_offset (float): Z-axis offset for the entire row
+        x_start (float): Starting X position for the row
+        
+    Returns:
+        dict: Dictionary mapping mesh names to their transformed meshes and positions
+        float: Final X position after all meshes
+    """
+    arranged = {}
+    current_x = x_start
+    
+    for name, mesh in meshes.items():
+        # Center the mesh at origin first (only in X-Y plane, preserve Z)
+        mesh_centered = mesh.copy()
+        center = mesh_centered.bounds.mean(axis=0)
+        center[2] = mesh_centered.bounds[0, 2]  # Keep bottom at z=0
+        mesh_centered.vertices -= center
+        
+        # Get dimensions
+        bounds, dimensions = get_mesh_bounds(mesh_centered)
+        
+        # Translate to current position with y_offset and z_offset
+        translation = np.array([current_x + dimensions[0] / 2, y_offset, z_offset])
+        mesh_positioned = mesh_centered.copy()
+        mesh_positioned.vertices += translation
+        
+        arranged[name] = {
+            'mesh': mesh_positioned,
+            'position': translation,
+            'dimensions': dimensions
+        }
+        
+        # Update position for next mesh
+        current_x += dimensions[0] + spacing
+    
+    return arranged, current_x
+
+
+def render_meshes_matplotlib(arranged_meshes_dict, output_path='peeler_handles_render.png', 
+                             figsize=(24, 10), dpi=150, view_angle=(0, 0)):
+    """
+    Render arranged meshes using matplotlib.
+    
+    Args:
+        arranged_meshes_dict (dict): Dictionary with 'handles' and 'heads' keys containing arranged meshes
+        output_path (str): Path to save the rendered image
+        figsize (tuple): Figure size (width, height)
+        dpi (int): Image resolution
+        view_angle (tuple): (elevation, azimuth) viewing angles in degrees
+    """
+    from mpl_toolkits.mplot3d.art3d import Poly3DCollection
+    
+    fig = plt.figure(figsize=figsize, dpi=dpi)
+    ax = fig.add_subplot(111, projection='3d')
+    
+    # Combine all meshes for rendering
+    all_meshes = {}
+    row_colors = {'handles': plt.cm.Set3, 'heads': plt.cm.Pastel1}
+    
+    for row_name, arranged_meshes in arranged_meshes_dict.items():
+        all_meshes.update(arranged_meshes)
+        
+        # Get colormap for this row
+        cmap = row_colors.get(row_name, plt.cm.tab20)
+        colors = cmap(np.linspace(0, 1, len(arranged_meshes)))
+        
+        for idx, (name, data) in enumerate(arranged_meshes.items()):
+            mesh = data['mesh']
+            
+            # Create polygon collection from mesh faces
+            if hasattr(mesh, 'vertices') and hasattr(mesh, 'faces'):
+                vertices = mesh.vertices
+                faces = mesh.faces
+                
+                # Subsample faces for performance (use every Nth face)
+                subsample_factor = max(1, len(faces) // 2000)
+                sampled_faces = faces[::subsample_factor]
+                
+                # Create face polygons
+                face_vertices = vertices[sampled_faces]
+                
+                # Create collection
+                poly_collection = Poly3DCollection(
+                    face_vertices,
+                    facecolors=colors[idx],
+                    alpha=0.8,
+                    edgecolors='black',
+                    linewidths=0.1
+                )
+                ax.add_collection3d(poly_collection)
+            
+            # Add label below the mesh
+            position = data['position']
+            label_z_offset = -0.015
+            ax.text(position[0], position[1], position[2] + label_z_offset, 
+                   name.replace('_', '\n'), 
+                   fontsize=6, ha='center', va='top')
+    
+    # Add row labels
+    all_vertices = np.vstack([data['mesh'].vertices for data in all_meshes.values()])
+    x_min = all_vertices[:, 0].min()
+    z_max = all_vertices[:, 2].max()
+    
+    if 'handles' in arranged_meshes_dict and arranged_meshes_dict['handles']:
+        handle_y = list(arranged_meshes_dict['handles'].values())[0]['position'][1]
+        handle_z = list(arranged_meshes_dict['handles'].values())[0]['position'][2]
+        ax.text(x_min - 0.02, handle_y, handle_z + 0.05, 'HANDLES', 
+               fontsize=11, fontweight='bold', ha='right', va='center',
+               bbox=dict(boxstyle='round,pad=0.4', facecolor='lightblue', alpha=0.8))
+    
+    if 'heads' in arranged_meshes_dict and arranged_meshes_dict['heads']:
+        head_y = list(arranged_meshes_dict['heads'].values())[0]['position'][1]
+        head_z = list(arranged_meshes_dict['heads'].values())[0]['position'][2]
+        ax.text(x_min - 0.02, head_y, head_z + 0.04, 'HEADS', 
+               fontsize=11, fontweight='bold', ha='right', va='center',
+               bbox=dict(boxstyle='round,pad=0.4', facecolor='lightcoral', alpha=0.8))
+    
+    # Set title
+    ax.set_title('Peeler Components - Handles and Heads (Front View)', fontsize=16, fontweight='bold', pad=20)
+    
+    # Set view angle (front view from Y axis: looking along negative Y towards positive Y)
+    # elev=0 means horizontal, azim=-90 means looking from negative Y axis
+    ax.view_init(elev=view_angle[0], azim=-90)
+    
+    # Set tight bounds to use full image area with proper aspect ratio
+    x_range = all_vertices[:, 0].max() - all_vertices[:, 0].min()
+    y_range = all_vertices[:, 1].max() - all_vertices[:, 1].min()
+    z_range = all_vertices[:, 2].max() - all_vertices[:, 2].min()
+    
+    # Add padding
+    padding = 0.03
+    
+    ax.set_xlim(all_vertices[:, 0].min() - padding, all_vertices[:, 0].max() + padding)
+    ax.set_ylim(all_vertices[:, 1].min() - padding, all_vertices[:, 1].max() + padding)
+    ax.set_zlim(all_vertices[:, 2].min() - padding, all_vertices[:, 2].max() + padding)
+    
+    # Set equal aspect ratio to maintain mesh scales
+    ax.set_box_aspect([x_range, y_range, z_range])
+    
+    # Hide axes
+    ax.set_axis_off()
+    
+    plt.tight_layout()
+    plt.savefig(output_path, bbox_inches='tight', dpi=dpi)
+    print(f"\nSaved render to: {output_path}")
+    plt.close()
+
+
+def render_meshes_pyrender(arranged_meshes, output_path='peeler_handles_render.png',
+                           resolution=(1920, 600)):
+    """
+    Render arranged meshes using pyrender (higher quality, requires GPU/OSMesa).
+    
+    Args:
+        arranged_meshes (dict): Dictionary of arranged meshes
+        output_path (str): Path to save the rendered image
+        resolution (tuple): Image resolution (width, height)
+    """
+    try:
+        import pyrender
+    except ImportError:
+        print("pyrender not installed. Install with: pip install pyrender")
+        return
+    
+    # Create scene
+    scene = pyrender.Scene(ambient_light=[0.3, 0.3, 0.3])
+    
+    # Add meshes to scene
+    colors = plt.cm.tab20(np.linspace(0, 1, len(arranged_meshes)))
+    
+    for idx, (name, data) in enumerate(arranged_meshes.items()):
+        mesh = data['mesh']
+        
+        # Convert to pyrender mesh
+        material = pyrender.MetallicRoughnessMaterial(
+            baseColorFactor=(*colors[idx][:3], 1.0),
+            metallicFactor=0.2,
+            roughnessFactor=0.8
+        )
+        
+        py_mesh = pyrender.Mesh.from_trimesh(mesh, material=material)
+        scene.add(py_mesh)
+    
+    # Calculate camera position
+    all_vertices = np.vstack([data['mesh'].vertices for data in arranged_meshes.values()])
+    center = all_vertices.mean(axis=0)
+    extent = all_vertices.max(axis=0) - all_vertices.min(axis=0)
+    distance = np.linalg.norm(extent) * 1.5
+    
+    # Add camera
+    camera = pyrender.PerspectiveCamera(yfov=np.pi / 4.0)
+    camera_pose = np.array([
+        [1.0, 0.0, 0.0, center[0]],
+        [0.0, 0.866, -0.5, center[1] + distance * 0.5],
+        [0.0, 0.5, 0.866, center[2] + distance * 0.866],
+        [0.0, 0.0, 0.0, 1.0]
+    ])
+    scene.add(camera, pose=camera_pose)
+    
+    # Add lights
+    light = pyrender.DirectionalLight(color=[1.0, 1.0, 1.0], intensity=3.0)
+    scene.add(light, pose=camera_pose)
+    
+    # Additional fill light
+    fill_light = pyrender.DirectionalLight(color=[1.0, 1.0, 1.0], intensity=1.0)
+    fill_pose = np.array([
+        [1.0, 0.0, 0.0, center[0]],
+        [0.0, -0.866, 0.5, center[1] - distance * 0.5],
+        [0.0, -0.5, -0.866, center[2] + distance * 0.5],
+        [0.0, 0.0, 0.0, 1.0]
+    ])
+    scene.add(fill_light, pose=fill_pose)
+    
+    # Render
+    renderer = pyrender.OffscreenRenderer(resolution[0], resolution[1])
+    color, depth = renderer.render(scene)
+    
+    # Save image
+    from PIL import Image
+    img = Image.fromarray(color)
+    img.save(output_path)
+    print(f"\nSaved render to: {output_path}")
+    
+    renderer.delete()
+
+
+def main():
+    """Main function to render all peeler handles and heads."""
+    # Path to peeler components directories
+    script_dir = Path(__file__).parent.resolve()
+    # Navigate from isaacgymenvs -> IsaacGymEnvs -> assets
+    base_dir = script_dir.parent / "assets" / "peelers_combined" / "raw"
+    handles_dir = base_dir / "peeler_handles"
+    heads_dir = base_dir / "peeler_heads"
+    
+    print("=" * 70)
+    print("Peeler Components Renderer (Handles + Heads)")
+    print("=" * 70)
+    print(f"\nScript directory: {script_dir}")
+    print(f"Handles directory: {handles_dir} (exists: {handles_dir.exists()})")
+    print(f"Heads directory: {heads_dir} (exists: {heads_dir.exists()})")
+    
+    # Load handles
+    print(f"\n{'='*70}")
+    print("Loading HANDLES...")
+    print(f"{'='*70}")
+    handles = load_all_meshes(handles_dir)
+    print(f"\nSuccessfully loaded {len(handles)} handle meshes")
+    
+    # Load heads
+    print(f"\n{'='*70}")
+    print("Loading HEADS...")
+    print(f"{'='*70}")
+    heads = load_all_meshes(heads_dir)
+    print(f"\nSuccessfully loaded {len(heads)} head meshes")
+    
+    # Calculate spacing between rows
+    # Get max dimensions
+    all_test_meshes = {**handles, **heads}
+    max_z_dim = max([get_mesh_bounds(mesh)[1][2] for mesh in all_test_meshes.values()])
+    
+    # Arrange meshes in two rows
+    print(f"\n{'='*70}")
+    print("Arranging meshes...")
+    print(f"{'='*70}")
+    print(f"Max Z dimension: {max_z_dim:.4f} m")
+    
+    # Calculate total width needed for each row
+    handles_widths = [get_mesh_bounds(mesh)[1][0] for mesh in handles.values()]
+    heads_widths = [get_mesh_bounds(mesh)[1][0] for mesh in heads.values()]
+    
+    handles_total_width = sum(handles_widths) + 0.05 * (len(handles) - 1)
+    heads_total_width = sum(heads_widths) + 0.05 * (len(heads) - 1)
+    
+    # Center both rows by starting at appropriate X positions
+    max_width = max(handles_total_width, heads_total_width)
+    handles_x_start = (max_width - handles_total_width) / 2
+    heads_x_start = (max_width - heads_total_width) / 2
+    
+    print(f"Handles width: {handles_total_width:.4f} m, start X: {handles_x_start:.4f} m")
+    print(f"Heads width: {heads_total_width:.4f} m, start X: {heads_x_start:.4f} m")
+    
+    # Place handles at a higher Z position, heads at z=0
+    handles_z_offset = max_z_dim + 0.06  # Handles above
+    heads_z_offset = 0.0  # Heads at bottom
+    
+    print(f"Handles Z offset: {handles_z_offset:.4f} m")
+    print(f"Heads Z offset: {heads_z_offset:.4f} m")
+    
+    # Arrange handles in upper row (same Y, higher Z)
+    print("\nArranging handles in upper row...")
+    arranged_handles, _ = arrange_meshes_in_row(handles, spacing=0.05, y_offset=0.0, z_offset=handles_z_offset, x_start=handles_x_start)
+    
+    # Arrange heads in lower row (same Y, z=0)
+    print("Arranging heads in lower row...")
+    arranged_heads, _ = arrange_meshes_in_row(heads, spacing=0.05, y_offset=0.0, z_offset=heads_z_offset, x_start=heads_x_start)
+    
+    # Print arrangement info
+    print(f"\n{'='*70}")
+    print("HANDLES arrangement:")
+    for name, data in arranged_handles.items():
+        print(f"  {name}: pos={data['position']}, dim={data['dimensions']}")
+    
+    print(f"\n{'='*70}")
+    print("HEADS arrangement:")
+    for name, data in arranged_heads.items():
+        print(f"  {name}: pos={data['position']}, dim={data['dimensions']}")
+    
+    # Combine both rows for rendering
+    arranged_dict = {
+        'handles': arranged_handles,
+        'heads': arranged_heads
+    }
+    
+    # Render using matplotlib (default, works everywhere)
+    output_path = script_dir / "peeler_components_render.png"
+    print(f"\n{'='*70}")
+    print("Rendering with matplotlib...")
+    print(f"{'='*70}")
+    render_meshes_matplotlib(arranged_dict, str(output_path))
+    
+    print("\n" + "=" * 70)
+    print("Rendering complete!")
+    print("=" * 70)
+
+
+if __name__ == "__main__":
+    main()

assets/peeler_combined/raw/repair_worker.py

@@ -0,0 +1,57 @@
+import sys
+import os
+import pymeshlab
+
+def repair_mesh(input_path, output_path):
+    print(f"Worker: Processing {os.path.basename(input_path)}...")
+    
+    try:
+        ms = pymeshlab.MeshSet()
+        ms.load_new_mesh(input_path)
+        
+        # --- 1. Calculate Target Length (Absolute) ---
+        # We calculate 1% of the bounding box diagonal manually
+        bbox = ms.current_mesh().bounding_box()
+        diag = bbox.diagonal()
+        target_len_float = diag * 0.01  # 1.0% of diagonal
+        
+        # --- 2. THE FIX: Wrap in AbsoluteValue object ---
+        # The error happens because PyMeshLab refuses raw floats. 
+        # We must explicitly tell it "This is an Absolute Value".
+        # target_param = pymeshlab.AbsoluteValue(target_len_float)
+
+        # --- 3. Isotropic Explicit Remeshing ---
+        ms.meshing_isotropic_explicit_remeshing(
+            # iterations=3,
+            # targetlen=target_param 
+        )
+        
+        # --- 4. Screened Poisson ---
+        ms.generate_surface_reconstruction_screened_poisson(
+            depth=10,
+            preclean=True,
+            pointweight=10
+        )
+        
+        # --- 5. Simplification ---
+        ms.meshing_decimation_quadric_edge_collapse(
+            targetfacenum=5000,
+            preserveboundary=True,
+            preservenormal=True
+        )
+
+        ms.save_current_mesh(output_path)
+        print("Worker: Success.")
+        
+    except Exception as e:
+        print(f"Worker Error: {e}")
+        # This helps print the specific line number if it fails again
+        import traceback
+        traceback.print_exc()
+        sys.exit(1)
+
+if __name__ == "__main__":
+    if len(sys.argv) < 3:
+        print("Usage: python repair_worker.py <input_obj> <output_obj>")
+    else:
+        repair_mesh(sys.argv[1], sys.argv[2])

assets/peeler_combined/urdf/peeler_11_head_peeler_3_handle_h0_91_hnd0_83_339.urdf

@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="peeler_11_head_peeler_3_handle_h0_91_hnd0_83_339">
+    <link name="peeler_11_head_peeler_3_handle_h0_91_hnd0_83_339">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/peeler_11_head_peeler_3_handle_h0_91_hnd0_83_339.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/peeler_11_head_peeler_3_handle_h0_91_hnd0_83_339.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>

assets/peeler_combined/urdf/peeler_11_head_peeler_4_handle_h1_02_hnd1_11.urdf

@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="peeler_11_head_peeler_4_handle_h1_02_hnd1_11">
+    <link name="peeler_11_head_peeler_4_handle_h1_02_hnd1_11">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/peeler_11_head_peeler_4_handle_h1_02_hnd1_11.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/peeler_11_head_peeler_4_handle_h1_02_hnd1_11.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>

assets/peeler_combined/urdf/peeler_6_head_rectangular_handle_h1_14_hnd1_05_710.urdf

@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="peeler_6_head_rectangular_handle_h1_14_hnd1_05_710">
+    <link name="peeler_6_head_rectangular_handle_h1_14_hnd1_05_710">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/peeler_6_head_rectangular_handle_h1_14_hnd1_05_710.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/peeler_6_head_rectangular_handle_h1_14_hnd1_05_710.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>

assets/peeler_combined/urdf/peeler_6_head_tool_hex_prism_12_h0_98_hnd0_97.urdf

@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="peeler_6_head_tool_hex_prism_12_h0_98_hnd0_97">
+    <link name="peeler_6_head_tool_hex_prism_12_h0_98_hnd0_97">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/peeler_6_head_tool_hex_prism_12_h0_98_hnd0_97.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/peeler_6_head_tool_hex_prism_12_h0_98_hnd0_97.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>

assets/peeler_combined/urdf/peeler_7_head_tool_hex_prism_12_h1_04_hnd1_12_903.urdf

@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="peeler_7_head_tool_hex_prism_12_h1_04_hnd1_12_903">
+    <link name="peeler_7_head_tool_hex_prism_12_h1_04_hnd1_12_903">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/peeler_7_head_tool_hex_prism_12_h1_04_hnd1_12_903.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/peeler_7_head_tool_hex_prism_12_h1_04_hnd1_12_903.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>

assets/peeler_combined/yaml/tool_asset_info_peelers.yaml

@@ -0,0 +1,991 @@
+tools:
+  peeler_10_head_peeler_1_handle_h1_02_hnd1_04:
+    urdf_par_dir: peelers_combined
+    urdf_path: peeler_10_head_peeler_1_handle_h1_02_hnd1_04
+    length: 0.125974
+    thickness: 0.07829
+    width: 0.03376
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: peeler
+    scale_factor: 1
+  peeler_10_head_peeler_3_handle_h1_02_hnd1_09:
+    urdf_par_dir: peelers_combined
+    urdf_path: peeler_10_head_peeler_3_handle_h1_02_hnd1_09
+    length: 0.156139
+    thickness: 0.068954
+    width: 0.03438
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: peeler
+    scale_factor: 1
+  peeler_10_head_peeler_4_handle_h0_92_hnd1_09:
+    urdf_par_dir: peelers_combined
+    urdf_path: peeler_10_head_peeler_4_handle_h0_92_hnd1_09
+    length: 0.15984
+    thickness: 0.055243
+    width: 0.028661
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: peeler
+    scale_factor: 1
+  peeler_10_head_peeler_6_handle_h0_93_hnd1_03:
+    urdf_par_dir: peelers_combined
+    urdf_path: peeler_10_head_peeler_6_handle_h0_93_hnd1_03
+    length: 0.129137
+    thickness: 0.057249
+    width: 0.034659
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: peeler
+    scale_factor: 1
+  peeler_10_head_peeler_9_handle_h0_92_hnd1_05:
+    urdf_par_dir: peelers_combined
+    urdf_path: peeler_10_head_peeler_9_handle_h0_92_hnd1_05
+    length: 0.162375
+    thickness: 0.066353
+    width: 0.029294
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: peeler
+    scale_factor: 1
+  peeler_10_head_rectangular_handle_h1_07_hnd1_02:
+    urdf_par_dir: peelers_combined
+    urdf_path: peeler_10_head_rectangular_handle_h1_07_hnd1_02
+    length: 0.167727
+    thickness: 0.062649
+    width: 0.039277
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: peeler
+    scale_factor: 1
+  peeler_10_head_tool_cylinder_6_h0_95_hnd0_84:
+    urdf_par_dir: peelers_combined
+    urdf_path: peeler_10_head_tool_cylinder_6_h0_95_hnd0_84
+    length: 0.134063
+    thickness: 0.068671
+    width: 0.029391
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: peeler
+    scale_factor: 1
+  peeler_10_head_tool_hex_prism_12_h0_88_hnd1_02:
+    urdf_par_dir: peelers_combined
+    urdf_path: peeler_10_head_tool_hex_prism_12_h0_88_hnd1_02
+    length: 0.136358
+    thickness: 0.055048
+    width: 0.033533
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: peeler
+    scale_factor: 1
+  peeler_10_head_tool_rectangle_28_h0_96_hnd1_03:
+    urdf_par_dir: peelers_combined
+    urdf_path: peeler_10_head_tool_rectangle_28_h0_96_hnd1_03
+    length: 0.143047
+    thickness: 0.071772
+    width: 0.029926
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: peeler
+    scale_factor: 1
+  peeler_11_head_peeler_1_handle_h1_03_hnd1_04:
+    urdf_par_dir: peelers_combined
+    urdf_path: peeler_11_head_peeler_1_handle_h1_03_hnd1_04
+    length: 0.110447
+    thickness: 0.067019
+    width: 0.021321
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: peeler
+    scale_factor: 1
+  peeler_11_head_peeler_3_handle_h0_98_hnd1_06:
+    urdf_par_dir: peelers_combined
+    urdf_path: peeler_11_head_peeler_3_handle_h0_98_hnd1_06
+    length: 0.134087
+    thickness: 0.052721
+    width: 0.017922
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: peeler
+    scale_factor: 1
+  peeler_11_head_peeler_4_handle_h1_01_hnd0_96:
+    urdf_par_dir: peelers_combined
+    urdf_path: peeler_11_head_peeler_4_handle_h1_01_hnd0_96
+    length: 0.133445
+    thickness: 0.067387
+    width: 0.020549
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: peeler
+    scale_factor: 1
+  peeler_11_head_peeler_6_handle_h1_19_hnd0_95:
+    urdf_par_dir: peelers_combined
+    urdf_path: peeler_11_head_peeler_6_handle_h1_19_hnd0_95
+    length: 0.125102
+    thickness: 0.072162
+    width: 0.023784
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: peeler
+    scale_factor: 1
+  peeler_11_head_peeler_9_handle_h0_95_hnd0_94:
+    urdf_par_dir: peelers_combined
+    urdf_path: peeler_11_head_peeler_9_handle_h0_95_hnd0_94
+    length: 0.159281
+    thickness: 0.061754
+    width: 0.022272
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: peeler
+    scale_factor: 1
+  peeler_11_head_rectangular_handle_h0_99_hnd1_05:
+    urdf_par_dir: peelers_combined
+    urdf_path: peeler_11_head_rectangular_handle_h0_99_hnd1_05
+    length: 0.14331
+    thickness: 0.053222
+    width: 0.02055
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: peeler
+    scale_factor: 1
+  peeler_11_head_tool_cylinder_6_h1_06_hnd1_04:
+    urdf_par_dir: peelers_combined
+    urdf_path: peeler_11_head_tool_cylinder_6_h1_06_hnd1_04
+    length: 0.131254
+    thickness: 0.062798
+    width: 0.022915
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: peeler
+    scale_factor: 1
+  peeler_11_head_tool_hex_prism_12_h0_90_hnd1_02:
+    urdf_par_dir: peelers_combined
+    urdf_path: peeler_11_head_tool_hex_prism_12_h0_90_hnd1_02
+    length: 0.140904
+    thickness: 0.048683
+    width: 0.023931
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: peeler
+    scale_factor: 1
+  peeler_11_head_tool_rectangle_28_h1_10_hnd1_01:
+    urdf_par_dir: peelers_combined
+    urdf_path: peeler_11_head_tool_rectangle_28_h1_10_hnd1_01
+    length: 0.155579
+    thickness: 0.063313
+    width: 0.023881
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: peeler
+    scale_factor: 1
+  peeler_1_head_peeler_1_handle_h1_09_hnd1_05:
+    urdf_par_dir: peelers_combined
+    urdf_path: peeler_1_head_peeler_1_handle_h1_09_hnd1_05
+    length: 0.13532
+    thickness: 0.056169
+    width: 0.024488
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: peeler
+    scale_factor: 1
+  peeler_1_head_peeler_3_handle_h0_92_hnd0_97:
+    urdf_par_dir: peelers_combined
+    urdf_path: peeler_1_head_peeler_3_handle_h0_92_hnd0_97
+    length: 0.122982
+    thickness: 0.054625
+    width: 0.020174
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: peeler
+    scale_factor: 1
+  peeler_1_head_peeler_4_handle_h1_00_hnd1_15:
+    urdf_par_dir: peelers_combined
+    urdf_path: peeler_1_head_peeler_4_handle_h1_00_hnd1_15
+    length: 0.152595
+    thickness: 0.068925
+    width: 0.022816
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: peeler
+    scale_factor: 1
+  peeler_1_head_peeler_6_handle_h0_89_hnd0_91:
+    urdf_par_dir: peelers_combined
+    urdf_path: peeler_1_head_peeler_6_handle_h0_89_hnd0_91
+    length: 0.121634
+    thickness: 0.049829
+    width: 0.019819
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: peeler
+    scale_factor: 1
+  peeler_1_head_peeler_9_handle_h1_08_hnd1_10:
+    urdf_par_dir: peelers_combined
+    urdf_path: peeler_1_head_peeler_9_handle_h1_08_hnd1_10
+    length: 0.188854
+    thickness: 0.058886
+    width: 0.024216
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: peeler
+    scale_factor: 1
+  peeler_1_head_rectangular_handle_h0_96_hnd0_99:
+    urdf_par_dir: peelers_combined
+    urdf_path: peeler_1_head_rectangular_handle_h0_96_hnd0_99
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+    urdf_par_dir: peelers_combined
+    urdf_path: peeler_1_head_tool_cylinder_6_h1_00_hnd1_05
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+    urdf_par_dir: peelers_combined
+    urdf_path: peeler_1_head_tool_hex_prism_12_h1_01_hnd0_92
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+    urdf_par_dir: peelers_combined
+    urdf_path: peeler_1_head_tool_rectangle_28_h1_05_hnd0_96
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+    urdf_par_dir: peelers_combined
+    urdf_path: peeler_3_head_peeler_1_handle_h1_03_hnd1_01
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+    urdf_par_dir: peelers_combined
+    urdf_path: peeler_3_head_peeler_3_handle_h1_05_hnd0_94
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+    urdf_par_dir: peelers_combined
+    urdf_path: peeler_3_head_peeler_4_handle_h0_96_hnd1_02
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+    urdf_par_dir: peelers_combined
+    urdf_path: peeler_3_head_peeler_6_handle_h0_83_hnd0_98
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+  peeler_3_head_peeler_9_handle_h0_98_hnd0_97:
+    urdf_par_dir: peelers_combined
+    urdf_path: peeler_3_head_peeler_9_handle_h0_98_hnd0_97
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+    urdf_par_dir: peelers_combined
+    urdf_path: peeler_3_head_rectangular_handle_h1_06_hnd1_01
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+  peeler_3_head_tool_cylinder_6_h1_01_hnd0_93:
+    urdf_par_dir: peelers_combined
+    urdf_path: peeler_3_head_tool_cylinder_6_h1_01_hnd0_93
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+    urdf_par_dir: peelers_combined
+    urdf_path: peeler_3_head_tool_hex_prism_12_h1_09_hnd1_00
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+    urdf_par_dir: peelers_combined
+    urdf_path: peeler_3_head_tool_rectangle_28_h1_03_hnd0_86
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+    urdf_par_dir: peelers_combined
+    urdf_path: peeler_4_head_peeler_1_handle_h0_89_hnd1_00
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+  peeler_4_head_peeler_3_handle_h1_03_hnd1_01:
+    urdf_par_dir: peelers_combined
+    urdf_path: peeler_4_head_peeler_3_handle_h1_03_hnd1_01
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+    urdf_par_dir: peelers_combined
+    urdf_path: peeler_4_head_peeler_4_handle_h1_05_hnd0_94
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+    urdf_par_dir: peelers_combined
+    urdf_path: peeler_4_head_peeler_6_handle_h0_87_hnd1_01
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+    urdf_par_dir: peelers_combined
+    urdf_path: peeler_4_head_peeler_9_handle_h0_86_hnd1_00
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+    urdf_par_dir: peelers_combined
+    urdf_path: peeler_4_head_rectangular_handle_h0_94_hnd0_96
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+    urdf_par_dir: peelers_combined
+    urdf_path: peeler_4_head_tool_cylinder_6_h0_94_hnd1_08
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+    urdf_par_dir: peelers_combined
+    urdf_path: peeler_4_head_tool_hex_prism_12_h1_03_hnd0_96
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+    urdf_par_dir: peelers_combined
+    urdf_path: peeler_4_head_tool_rectangle_28_h1_08_hnd0_98
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+    urdf_par_dir: peelers_combined
+    urdf_path: peeler_5_head_peeler_1_handle_h0_97_hnd0_94
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+    urdf_par_dir: peelers_combined
+    urdf_path: peeler_5_head_peeler_3_handle_h0_95_hnd1_03
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+  peeler_5_head_peeler_4_handle_h0_96_hnd0_97:
+    urdf_par_dir: peelers_combined
+    urdf_path: peeler_5_head_peeler_4_handle_h0_96_hnd0_97
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+    urdf_par_dir: peelers_combined
+    urdf_path: peeler_5_head_peeler_6_handle_h0_93_hnd1_13
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+    urdf_par_dir: peelers_combined
+    urdf_path: peeler_5_head_peeler_9_handle_h1_04_hnd0_98
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+    urdf_par_dir: peelers_combined
+    urdf_path: peeler_5_head_rectangular_handle_h0_88_hnd1_07
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+    urdf_path: peeler_5_head_tool_cylinder_6_h1_02_hnd0_96
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+    urdf_par_dir: peelers_combined
+    urdf_path: peeler_5_head_tool_hex_prism_12_h0_90_hnd1_07
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+    urdf_par_dir: peelers_combined
+    urdf_path: peeler_5_head_tool_rectangle_28_h1_04_hnd0_91
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+    urdf_par_dir: peelers_combined
+    urdf_path: peeler_6_head_peeler_1_handle_h1_04_hnd1_12
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+    urdf_par_dir: peelers_combined
+    urdf_path: peeler_6_head_peeler_3_handle_h0_91_hnd0_96
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+    urdf_par_dir: peelers_combined
+    urdf_path: peeler_6_head_peeler_4_handle_h1_00_hnd1_09
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+    urdf_par_dir: peelers_combined
+    urdf_path: peeler_6_head_peeler_6_handle_h1_03_hnd0_89
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+    urdf_par_dir: peelers_combined
+    urdf_path: peeler_6_head_peeler_9_handle_h0_92_hnd1_03
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+    urdf_par_dir: peelers_combined
+    urdf_path: peeler_6_head_rectangular_handle_h1_07_hnd1_02
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+    urdf_par_dir: peelers_combined
+    urdf_path: peeler_6_head_tool_cylinder_6_h0_90_hnd1_03
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+    urdf_par_dir: peelers_combined
+    urdf_path: peeler_6_head_tool_hex_prism_12_h0_95_hnd0_90
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+    urdf_par_dir: peelers_combined
+    urdf_path: peeler_6_head_tool_rectangle_28_h1_01_hnd0_97
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+    urdf_par_dir: peelers_combined
+    urdf_path: peeler_7_head_peeler_1_handle_h0_88_hnd1_06
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+    urdf_par_dir: peelers_combined
+    urdf_path: peeler_7_head_peeler_3_handle_h0_95_hnd1_04
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+  peeler_7_head_peeler_4_handle_h0_94_hnd0_97:
+    urdf_par_dir: peelers_combined
+    urdf_path: peeler_7_head_peeler_4_handle_h0_94_hnd0_97
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+    urdf_par_dir: peelers_combined
+    urdf_path: peeler_7_head_peeler_6_handle_h0_99_hnd1_09
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+    urdf_par_dir: peelers_combined
+    urdf_path: peeler_7_head_peeler_9_handle_h0_91_hnd0_94
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+    urdf_par_dir: peelers_combined
+    urdf_path: peeler_7_head_rectangular_handle_h0_90_hnd0_87
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+    urdf_par_dir: peelers_combined
+    urdf_path: peeler_7_head_tool_cylinder_6_h1_04_hnd1_05
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+    urdf_par_dir: peelers_combined
+    urdf_path: peeler_7_head_tool_hex_prism_12_h1_03_hnd1_14
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+    urdf_par_dir: peelers_combined
+    urdf_path: peeler_7_head_tool_rectangle_28_h1_02_hnd1_04
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+  peeler_8_head_peeler_1_handle_h0_96_hnd0_92:
+    urdf_par_dir: peelers_combined
+    urdf_path: peeler_8_head_peeler_1_handle_h0_96_hnd0_92
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+  peeler_8_head_peeler_3_handle_h0_99_hnd1_06:
+    urdf_par_dir: peelers_combined
+    urdf_path: peeler_8_head_peeler_3_handle_h0_99_hnd1_06
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+    grasp_offset: 0.05
+    tool_type: peeler
+    scale_factor: 1
+  peeler_8_head_peeler_4_handle_h1_06_hnd1_03:
+    urdf_par_dir: peelers_combined
+    urdf_path: peeler_8_head_peeler_4_handle_h1_06_hnd1_03
+    length: 0.149088
+    thickness: 0.074094
+    width: 0.0217
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: peeler
+    scale_factor: 1
+  peeler_8_head_peeler_6_handle_h0_86_hnd1_06:
+    urdf_par_dir: peelers_combined
+    urdf_path: peeler_8_head_peeler_6_handle_h0_86_hnd1_06
+    length: 0.145851
+    thickness: 0.054071
+    width: 0.018441
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: peeler
+    scale_factor: 1
+  peeler_8_head_peeler_9_handle_h1_05_hnd1_00:
+    urdf_par_dir: peelers_combined
+    urdf_path: peeler_8_head_peeler_9_handle_h1_05_hnd1_00
+    length: 0.183673
+    thickness: 0.066021
+    width: 0.021414
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: peeler
+    scale_factor: 1
+  peeler_8_head_rectangular_handle_h1_06_hnd1_08:
+    urdf_par_dir: peelers_combined
+    urdf_path: peeler_8_head_rectangular_handle_h1_06_hnd1_08
+    length: 0.162749
+    thickness: 0.073785
+    width: 0.019521
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: peeler
+    scale_factor: 1
+  peeler_8_head_tool_cylinder_6_h1_10_hnd0_97:
+    urdf_par_dir: peelers_combined
+    urdf_path: peeler_8_head_tool_cylinder_6_h1_10_hnd0_97
+    length: 0.141546
+    thickness: 0.069893
+    width: 0.020322
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: peeler
+    scale_factor: 1
+  peeler_8_head_tool_hex_prism_12_h1_13_hnd1_01:
+    urdf_par_dir: peelers_combined
+    urdf_path: peeler_8_head_tool_hex_prism_12_h1_13_hnd1_01
+    length: 0.152304
+    thickness: 0.074937
+    width: 0.024739
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: peeler
+    scale_factor: 1
+  peeler_8_head_tool_rectangle_28_h1_01_hnd1_03:
+    urdf_par_dir: peelers_combined
+    urdf_path: peeler_8_head_tool_rectangle_28_h1_01_hnd1_03
+    length: 0.172307
+    thickness: 0.057767
+    width: 0.018912
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: peeler
+    scale_factor: 1
+  peeler_9_head_peeler_1_handle_h1_05_hnd1_03:
+    urdf_par_dir: peelers_combined
+    urdf_path: peeler_9_head_peeler_1_handle_h1_05_hnd1_03
+    length: 0.13855
+    thickness: 0.057728
+    width: 0.024845
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: peeler
+    scale_factor: 1
+  peeler_9_head_peeler_3_handle_h1_01_hnd1_05:
+    urdf_par_dir: peelers_combined
+    urdf_path: peeler_9_head_peeler_3_handle_h1_01_hnd1_05
+    length: 0.15419
+    thickness: 0.056096
+    width: 0.023213
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: peeler
+    scale_factor: 1
+  peeler_9_head_peeler_4_handle_h0_96_hnd0_95:
+    urdf_par_dir: peelers_combined
+    urdf_path: peeler_9_head_peeler_4_handle_h0_96_hnd0_95
+    length: 0.136913
+    thickness: 0.042123
+    width: 0.021449
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: peeler
+    scale_factor: 1
+  peeler_9_head_peeler_6_handle_h0_93_hnd0_96:
+    urdf_par_dir: peelers_combined
+    urdf_path: peeler_9_head_peeler_6_handle_h0_93_hnd0_96
+    length: 0.117022
+    thickness: 0.055981
+    width: 0.022405
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: peeler
+    scale_factor: 1
+  peeler_9_head_peeler_9_handle_h1_07_hnd0_93:
+    urdf_par_dir: peelers_combined
+    urdf_path: peeler_9_head_peeler_9_handle_h1_07_hnd0_93
+    length: 0.171956
+    thickness: 0.052092
+    width: 0.02423
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: peeler
+    scale_factor: 1
+  peeler_9_head_rectangular_handle_h0_99_hnd1_03:
+    urdf_par_dir: peelers_combined
+    urdf_path: peeler_9_head_rectangular_handle_h0_99_hnd1_03
+    length: 0.156014
+    thickness: 0.051756
+    width: 0.022885
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: peeler
+    scale_factor: 1
+  peeler_9_head_tool_cylinder_6_h0_90_hnd1_03:
+    urdf_par_dir: peelers_combined
+    urdf_path: peeler_9_head_tool_cylinder_6_h0_90_hnd1_03
+    length: 0.149095
+    thickness: 0.048257
+    width: 0.01954
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: peeler
+    scale_factor: 1
+  peeler_9_head_tool_hex_prism_12_h0_98_hnd1_09:
+    urdf_par_dir: peelers_combined
+    urdf_path: peeler_9_head_tool_hex_prism_12_h0_98_hnd1_09
+    length: 0.173493
+    thickness: 0.049217
+    width: 0.023514
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: peeler
+    scale_factor: 1
+  peeler_9_head_tool_rectangle_28_h0_97_hnd1_05:
+    urdf_par_dir: peelers_combined
+    urdf_path: peeler_9_head_tool_rectangle_28_h0_97_hnd1_05
+    length: 0.168065
+    thickness: 0.045195
+    width: 0.019451
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: peeler
+    scale_factor: 1

checkpoints/contact_field/peelers_real/config.yaml

@@ -0,0 +1,246 @@
+point_encoder:
+  type: pointnet
+  feature_dim: 64
+  pointnet:
+    0:
+      npoint: 256
+      radius: 0.01
+      nsample: 32
+      in_channel: 0
+      mlp:
+      - 64
+      - 64
+      - 128
+      group_all: false
+    1:
+      npoint: 64
+      radius: 0.02
+      nsample: 64
+      in_channel: 128
+      mlp:
+      - 128
+      - 128
+      - 256
+      group_all: false
+    2:
+      npoint: 16
+      radius: 0.04
+      nsample: 128
+      in_channel: 256
+      mlp:
+      - 256
+      - 256
+      - 512
+      group_all: true
+experiment_name: concat_peeler_real_scraper_corrected_lambda1
+use_env_pointcloud: true
+split: test
+model:
+  type: tactile_pointnet_concat
+  use_pose_encoding: false
+  reconstruct_tactile: false
+  tactile_channels: 3
+  contact_prob_init_bias_enabled: true
+  contact_prob_init_bias: 0.02
+  freeze_force_head: false
+joint_processing:
+  enabled: true
+  label_channel: true
+data:
+  max_memory_samples: 10000000
+  use_partial_pointcloud: false
+  include_env_pointcloud: ${use_env_pointcloud}
+  knn_k: 5
+  knn_range: 0.01
+  dist_lambda: 100.0
+  contact_depth_threshold: -0.005
+  force_propagation:
+    weight_method: inv_square
+    dist_lambda: 50.0
+    force_clip_percentile: 98.0
+    normalize_per_point: true
+    smooth_sigma: 0.0
+  contact_L: -0.005
+  contact_alpha: 0.5
+  contact_k: 1.7
+  tactile_shape:
+  - 7
+  - 9
+  - 3
+  task: tools
+  point_cloud_downsampling:
+    enabled: true
+    method: random
+    object_points: 256
+    env_points: 512
+  precontact_smoothing:
+    enabled: false
+    postcontact_enabled: false
+    method: linear
+  history:
+    enabled: true
+    length: 5
+    tactile_history: true
+    pose_history: true
+    temporal_dropout: 0.1
+    temporal_attention_heads: 4
+  reference_tactile:
+    enabled: true
+    n_steps: 5
+    method: median
+    use_difference: true
+    dynamic_update: true
+    dynamic_window: 5
+    dynamic_force_threshold: 0.01
+  episode_filtering:
+    filter_initial_contact: false
+    initial_contact_threshold: 0.1
+    filter_low_tactile: false
+    low_tactile_threshold: 1.0e-07
+    low_tactile_ratio: 0.5
+  train_data_path: /home/kevin/gendp/contact_field/data/real_scraper_corrected_lambda1/train
+  val_data_path: /home/kevin/gendp/contact_field/data/real_scraper_corrected_lambda1/test
+  test_data_path: /home/kevin/gendp/contact_field/data/real_scraper_corrected_lambda1/test
+  real_data: true
+  validate_grasping: false
+  grasp_threshold: 0.1
+  augmentation:
+    enabled: true
+    rotation_range: 15
+    translation_range: 0.03
+    translation_range_x:
+    - -0.05
+    - 0.05
+    translation_range_y:
+    - -0.05
+    - 0.05
+    translation_range_z:
+    - -0.01
+    - 0.1
+    noise_std: 0.001
+    point_cloud:
+      position_noise_std: 0.01
+      orientation_noise_std: 0.05
+      patch_removal:
+        enabled: true
+        num_patches: 3
+        patch_size_ratio: 0.05
+        removal_probability: 0.3
+    tactile:
+      noise_std: 0.001
+    pose:
+      noise_std: 0.005
+      velocity_noise_std: 0.01
+      delay_steps: 1
+      delay_probability: 0.2
+  tactile_filtering:
+    enabled: false
+    spatial:
+      enabled: false
+      method: gaussian
+      sigma: 0.25
+    temporal:
+      enabled: false
+      window_length: 7
+      polyorder: 1
+  tactile_normalization:
+    enabled: true
+    method: scale
+    scale_factor: 1000.0
+    clip_range:
+    - -10.0
+    - 10.0
+    per_channel: true
+training:
+  batch_size: 128
+  num_epochs: 100
+  learning_rate: 5.0e-06
+  weight_decay: 1.0e-06
+  accelerator: gpu
+  devices: 1
+  strategy: auto
+  precision: 32
+  gradient_clip_val: 1.0
+  accumulate_grad_batches: 1
+  scheduler:
+    type: plateau
+    mode: min
+    factor: 0.5
+    patience: 15
+    threshold: 5.0e-06
+    min_lr: 1.0e-07
+  loss:
+    contact_prob_weight: 1.0
+    contact_force_weight: 1.0
+    force_magnitude_weight: 0.0
+    tactile_reconstruction_weight: 0.0
+    contact_prob_loss_type: focal
+    focal_loss:
+      alpha: 0.9
+      gamma: 0.75
+      use_hard_labels: false
+      hard_label_cutoff: 0.5
+    bce_pos_weight: 1.0
+    contact_force_loss_type: magnitude_direction
+    use_magnitude_loss: false
+    magnitude_direction:
+      magnitude_loss_type: mse
+      magnitude_weight: 1.5
+      direction_loss_type: cosine
+      direction_weight: 1.0
+      magnitude_threshold: 0.005
+      use_adaptive_weighting: true
+      adaptive_weighting:
+        weighting_scheme: log_magnitude
+        min_weight: 1.0
+        max_weight: 3.0
+        temperature: 1.0
+  early_stopping:
+    patience: 30
+    min_delta: 5.0e-06
+  val_frequency: 1
+  save_frequency: 20
+optimizer:
+  type: AdamW
+  lr: 0.0001
+  weight_decay: 0.0001
+  betas:
+  - 0.9
+  - 0.999
+device: cuda
+num_workers: 0
+pin_memory: true
+logging:
+  log_dir: logs
+  experiment_name: ${experiment_name}
+  log_frequency: 100
+  use_timestamp: true
+wandb:
+  project: contact-field-estimation
+  entity: null
+  tags:
+  - contact_field
+  - tactile_pointnet_concat
+  - tactile_as_pointcloud
+  - no_pose_encoding
+  - no_reconstruction
+  - real_world_data
+  notes: 'Real-world data training: tactile-as-pointcloud architecture with NO smoothing/filtering
+    (real data mode enabled)'
+  offline: false
+checkpoint:
+  save_dir: checkpoints
+  use_timestamp: true
+  save_best: true
+  save_latest: true
+  load_weights_from: /home/kevin/gendp/contact_field/checkpoints/concat_peelers_combined_new/last.ckpt
+  resume_from: null
+evaluation:
+  metrics:
+  - accuracy
+  - precision
+  - recall
+  - f1_score
+  - force_mse
+  visualize_predictions: true
+  save_predictions: true

checkpoints/contact_field/peelers_sim/config.yaml

@@ -0,0 +1,241 @@
+point_encoder:
+  type: pointnet
+  feature_dim: 64
+  pointnet:
+    0:
+      npoint: 256
+      radius: 0.01
+      nsample: 32
+      in_channel: 0
+      mlp:
+      - 64
+      - 64
+      - 128
+      group_all: false
+    1:
+      npoint: 64
+      radius: 0.02
+      nsample: 64
+      in_channel: 128
+      mlp:
+      - 128
+      - 128
+      - 256
+      group_all: false
+    2:
+      npoint: 16
+      radius: 0.04
+      nsample: 128
+      in_channel: 256
+      mlp:
+      - 256
+      - 256
+      - 512
+      group_all: true
+experiment_name: concat_peelers_combined_new_focal_0.9_0.75_force_mag_dir_ada_weight_hist5_smoothpc_pcd256+512
+use_env_pointcloud: true
+split: test
+model:
+  type: tactile_pointnet_concat
+  use_pose_encoding: false
+  reconstruct_tactile: false
+  tactile_channels: 3
+  contact_prob_init_bias_enabled: true
+  contact_prob_init_bias: 0.02
+joint_processing:
+  enabled: true
+  label_channel: true
+data:
+  max_memory_samples: 10000000
+  use_partial_pointcloud: false
+  include_env_pointcloud: ${use_env_pointcloud}
+  knn_k: 5
+  knn_range: 0.01
+  dist_lambda: 100.0
+  contact_depth_threshold: -0.005
+  force_propagation:
+    weight_method: inv_square
+    dist_lambda: 50.0
+    force_clip_percentile: 98.0
+    normalize_per_point: true
+    smooth_sigma: 0.0
+  contact_L: -0.005
+  contact_alpha: 0.5
+  contact_k: 1.7
+  tactile_shape:
+  - 7
+  - 9
+  - 3
+  task: peelers
+  point_cloud_downsampling:
+    enabled: true
+    method: random
+    object_points: 256
+    env_points: 512
+  precontact_smoothing:
+    enabled: true
+    postcontact_enabled: true
+    method: linear
+  history:
+    enabled: true
+    length: 5
+    tactile_history: true
+    pose_history: true
+    temporal_dropout: 0.1
+    temporal_attention_heads: 4
+  reference_tactile:
+    enabled: true
+    n_steps: 5
+    method: median
+    use_difference: true
+  episode_filtering:
+    filter_initial_contact: true
+    initial_contact_threshold: 0.1
+    filter_low_tactile: true
+    low_tactile_threshold: 1.0e-07
+    low_tactile_ratio: 0.5
+  train_data_path: /users/kevinma/tacsl/collected_data/peelers_combined_new/train
+  val_data_path: /users/kevinma/tacsl/collected_data/peelers_combined_new/val
+  test_data_path: /users/kevinma/tacsl/collected_data/peelers_combined_new/test
+  validate_grasping: false
+  grasp_threshold: 0.1
+  augmentation:
+    enabled: true
+    rotation_range: 30
+    translation_range: 0.1
+    noise_std: 0.001
+    point_cloud:
+      position_noise_std: 0.01
+      orientation_noise_std: 0.05
+      patch_removal:
+        enabled: true
+        num_patches: 3
+        patch_size_ratio: 0.05
+        removal_probability: 0.3
+    tactile:
+      noise_std: 0.001
+    pose:
+      noise_std: 0.005
+      velocity_noise_std: 0.01
+      delay_steps: 1
+      delay_probability: 0.2
+  tactile_filtering:
+    enabled: true
+    spatial:
+      enabled: true
+      method: gaussian
+      sigma: 0.25
+    temporal:
+      enabled: true
+      window_length: 7
+      polyorder: 1
+  tactile_normalization:
+    enabled: true
+    method: scale
+    scale_factor: 1000.0
+    clip_range:
+    - -10.0
+    - 10.0
+    per_channel: true
+training:
+  batch_size: 320
+  num_epochs: 400
+  learning_rate: 0.0001
+  weight_decay: 0.0001
+  accelerator: gpu
+  devices:
+  - 0
+  - 1
+  - 2
+  - 3
+  - 4
+  - 5
+  - 6
+  - 7
+  strategy: auto
+  precision: 32
+  gradient_clip_val: 1.0
+  accumulate_grad_batches: 1
+  scheduler:
+    type: plateau
+    mode: min
+    factor: 0.7
+    patience: 20
+    threshold: 1.0e-05
+    min_lr: 1.0e-07
+    verbose: true
+  loss:
+    contact_prob_weight: 1.0
+    contact_force_weight: 2.0
+    force_magnitude_weight: 0.0
+    tactile_reconstruction_weight: 0.0
+    contact_prob_loss_type: focal
+    focal_loss:
+      alpha: 0.9
+      gamma: 0.75
+      use_hard_labels: false
+      hard_label_cutoff: 0.5
+    bce_pos_weight: 1.0
+    contact_force_loss_type: magnitude_direction
+    use_magnitude_loss: false
+    magnitude_direction:
+      magnitude_loss_type: mse
+      magnitude_weight: 1.5
+      direction_loss_type: cosine
+      direction_weight: 1.0
+      magnitude_threshold: 0.005
+      use_adaptive_weighting: true
+      adaptive_weighting:
+        weighting_scheme: log_magnitude
+        min_weight: 1.0
+        max_weight: 3.0
+        temperature: 1.0
+  early_stopping:
+    patience: 100
+    min_delta: 1.0e-05
+  val_frequency: 1
+  save_frequency: 20
+optimizer:
+  type: AdamW
+  lr: 0.0001
+  weight_decay: 0.0001
+  betas:
+  - 0.9
+  - 0.999
+device: cuda
+num_workers: 0
+pin_memory: true
+logging:
+  log_dir: logs
+  experiment_name: ${experiment_name}
+  log_frequency: 100
+  use_timestamp: true
+wandb:
+  project: contact-field-estimation
+  entity: null
+  tags:
+  - contact_field
+  - tactile_pointnet_concat
+  - tactile_as_pointcloud
+  - no_pose_encoding
+  - no_reconstruction
+  - peelers_combined_new
+  notes: 'Tactile-as-pointcloud architecture: tactile converted to point cloud with
+    force channels, no explicit pose encoding, spatial reasoning only'
+  offline: false
+checkpoint:
+  save_dir: checkpoints/peelers_combined
+  use_timestamp: true
+  save_best: true
+  save_latest: true
+  resume_from: null
+resume_from: null
+evaluation:
+  metrics:
+  - accuracy
+  - precision
+  - recall
+  - f1_score
+  - force_mse
+  visualize_predictions: true
+  save_predictions: true

checkpoints/contact_field/tools_real/config.yaml

@@ -0,0 +1,255 @@
+point_encoder:
+  type: pointnet
+  feature_dim: 64
+  pointnet:
+    0:
+      npoint: 256
+      radius: 0.01
+      nsample: 32
+      in_channel: 0
+      mlp:
+      - 64
+      - 64
+      - 128
+      group_all: false
+    1:
+      npoint: 64
+      radius: 0.02
+      nsample: 64
+      in_channel: 128
+      mlp:
+      - 128
+      - 128
+      - 256
+      group_all: false
+    2:
+      npoint: 16
+      radius: 0.04
+      nsample: 128
+      in_channel: 256
+      mlp:
+      - 256
+      - 256
+      - 512
+      group_all: true
+experiment_name: concat_real_scraper_corrected_lambda1_no_sim
+use_env_pointcloud: true
+split: test
+model:
+  type: tactile_pointnet_concat
+  use_pose_encoding: false
+  reconstruct_tactile: false
+  tactile_channels: 3
+  contact_prob_init_bias_enabled: true
+  contact_prob_init_bias: 0.02
+  freeze_force_head: false
+joint_processing:
+  enabled: true
+  label_channel: true
+data:
+  max_memory_samples: 10000000
+  use_partial_pointcloud: false
+  include_env_pointcloud: ${use_env_pointcloud}
+  knn_k: 5
+  knn_range: 0.01
+  dist_lambda: 100.0
+  contact_depth_threshold: -0.005
+  force_propagation:
+    weight_method: inv_square
+    dist_lambda: 50.0
+    force_clip_percentile: 98.0
+    normalize_per_point: true
+    smooth_sigma: 0.0
+  contact_L: -0.005
+  contact_alpha: 0.5
+  contact_k: 1.7
+  tactile_shape:
+  - 7
+  - 9
+  - 3
+  task: tools
+  point_cloud_downsampling:
+    enabled: true
+    method: random
+    object_points: 256
+    env_points: 512
+  precontact_smoothing:
+    enabled: false
+    postcontact_enabled: false
+    method: linear
+  history:
+    enabled: true
+    length: 5
+    tactile_history: true
+    pose_history: true
+    temporal_dropout: 0.1
+    temporal_attention_heads: 4
+  reference_tactile:
+    enabled: true
+    n_steps: 5
+    method: median
+    use_difference: true
+    dynamic_update: true
+    dynamic_window: 5
+    dynamic_force_threshold: 0.01
+  episode_filtering:
+    filter_initial_contact: false
+    initial_contact_threshold: 0.1
+    filter_low_tactile: false
+    low_tactile_threshold: 1.0e-07
+    low_tactile_ratio: 0.5
+  train_data_path: /users/kevinma/gendp/data/real/real_scraper_corrected_lambda1/train
+  val_data_path: /users/kevinma/gendp/data/real/real_scraper_corrected_lambda1/test
+  test_data_path: /users/kevinma/gendp/data/real/real_scraper_corrected_lambda1/test
+  real_data: true
+  validate_grasping: false
+  grasp_threshold: 0.1
+  augmentation:
+    enabled: true
+    rotation_range: 15
+    translation_range: 0.03
+    translation_range_x:
+    - -0.05
+    - 0.05
+    translation_range_y:
+    - -0.05
+    - 0.05
+    translation_range_z:
+    - -0.01
+    - 0.1
+    noise_std: 0.001
+    point_cloud:
+      position_noise_std: 0.01
+      orientation_noise_std: 0.05
+      patch_removal:
+        enabled: true
+        num_patches: 3
+        patch_size_ratio: 0.05
+        removal_probability: 0.3
+    tactile:
+      noise_std: 0.001
+    pose:
+      noise_std: 0.005
+      velocity_noise_std: 0.01
+      delay_steps: 1
+      delay_probability: 0.2
+  tactile_filtering:
+    enabled: false
+    spatial:
+      enabled: false
+      method: gaussian
+      sigma: 0.25
+    temporal:
+      enabled: false
+      window_length: 7
+      polyorder: 1
+  tactile_normalization:
+    enabled: true
+    method: scale
+    scale_factor: 1000.0
+    clip_range:
+    - -10.0
+    - 10.0
+    per_channel: true
+training:
+  batch_size: 320
+  num_epochs: 400
+  learning_rate: 0.0001
+  weight_decay: 0.0001
+  accelerator: gpu
+  devices:
+  - 0
+  - 1
+  - 2
+  - 3
+  - 4
+  - 5
+  - 6
+  - 7
+  strategy: auto
+  precision: 32
+  gradient_clip_val: 1.0
+  accumulate_grad_batches: 1
+  scheduler:
+    type: plateau
+    mode: min
+    factor: 0.7
+    patience: 20
+    threshold: 1.0e-05
+    min_lr: 1.0e-07
+    verbose: true
+  loss:
+    contact_prob_weight: 1.0
+    contact_force_weight: 1.0
+    force_magnitude_weight: 0.0
+    tactile_reconstruction_weight: 0.0
+    contact_prob_loss_type: focal
+    focal_loss:
+      alpha: 0.9
+      gamma: 0.75
+      use_hard_labels: false
+      hard_label_cutoff: 0.5
+    bce_pos_weight: 1.0
+    contact_force_loss_type: magnitude_direction
+    use_magnitude_loss: false
+    magnitude_direction:
+      magnitude_loss_type: mse
+      magnitude_weight: 1.5
+      direction_loss_type: cosine
+      direction_weight: 1.0
+      magnitude_threshold: 0.005
+      use_adaptive_weighting: true
+      adaptive_weighting:
+        weighting_scheme: log_magnitude
+        min_weight: 1.0
+        max_weight: 3.0
+        temperature: 1.0
+  early_stopping:
+    patience: 100
+    min_delta: 5.0e-06
+  val_frequency: 1
+  save_frequency: 20
+optimizer:
+  type: AdamW
+  lr: 0.0001
+  weight_decay: 0.0001
+  betas:
+  - 0.9
+  - 0.999
+device: cuda
+num_workers: 0
+pin_memory: true
+logging:
+  log_dir: logs
+  experiment_name: ${experiment_name}
+  log_frequency: 100
+  use_timestamp: true
+wandb:
+  project: contact-field-estimation
+  entity: null
+  tags:
+  - contact_field
+  - tactile_pointnet_concat
+  - tactile_as_pointcloud
+  - no_pose_encoding
+  - no_reconstruction
+  - real_world_data
+  notes: 'Real-world data training: tactile-as-pointcloud architecture with NO smoothing/filtering
+    (real data mode enabled)'
+  offline: false
+checkpoint:
+  save_dir: checkpoints
+  use_timestamp: true
+  save_best: true
+  save_latest: true
+  load_weights_from: null
+  resume_from: null
+evaluation:
+  metrics:
+  - accuracy
+  - precision
+  - recall
+  - f1_score
+  - force_mse
+  visualize_predictions: true
+  save_predictions: true

checkpoints/contact_field/tools_sim/config.yaml

@@ -0,0 +1,241 @@
+point_encoder:
+  type: pointnet
+  feature_dim: 64
+  pointnet:
+    0:
+      npoint: 256
+      radius: 0.01
+      nsample: 32
+      in_channel: 0
+      mlp:
+      - 64
+      - 64
+      - 128
+      group_all: false
+    1:
+      npoint: 64
+      radius: 0.02
+      nsample: 64
+      in_channel: 128
+      mlp:
+      - 128
+      - 128
+      - 256
+      group_all: false
+    2:
+      npoint: 16
+      radius: 0.04
+      nsample: 128
+      in_channel: 256
+      mlp:
+      - 256
+      - 256
+      - 512
+      group_all: true
+experiment_name: concat_tools_mixed_focal_0.9_0.75_force_mag_dir_ada_weight_hist5_smoothpc_pcd256+512
+use_env_pointcloud: true
+split: test
+model:
+  type: tactile_pointnet_concat
+  use_pose_encoding: false
+  reconstruct_tactile: false
+  tactile_channels: 3
+  contact_prob_init_bias_enabled: true
+  contact_prob_init_bias: 0.02
+joint_processing:
+  enabled: true
+  label_channel: true
+data:
+  max_memory_samples: 10000000
+  use_partial_pointcloud: false
+  include_env_pointcloud: ${use_env_pointcloud}
+  knn_k: 5
+  knn_range: 0.01
+  dist_lambda: 100.0
+  contact_depth_threshold: -0.005
+  force_propagation:
+    weight_method: inv_square
+    dist_lambda: 50.0
+    force_clip_percentile: 98.0
+    normalize_per_point: true
+    smooth_sigma: 0.0
+  contact_L: -0.005
+  contact_alpha: 0.5
+  contact_k: 1.7
+  tactile_shape:
+  - 7
+  - 9
+  - 3
+  task: tools
+  point_cloud_downsampling:
+    enabled: true
+    method: random
+    object_points: 256
+    env_points: 512
+  precontact_smoothing:
+    enabled: true
+    postcontact_enabled: true
+    method: linear
+  history:
+    enabled: true
+    length: 5
+    tactile_history: true
+    pose_history: true
+    temporal_dropout: 0.1
+    temporal_attention_heads: 4
+  reference_tactile:
+    enabled: true
+    n_steps: 5
+    method: median
+    use_difference: true
+  episode_filtering:
+    filter_initial_contact: true
+    initial_contact_threshold: 0.1
+    filter_low_tactile: true
+    low_tactile_threshold: 1.0e-07
+    low_tactile_ratio: 0.5
+  train_data_path: /users/kevinma/tacsl/collected_data/tools_mixed/train
+  val_data_path: /users/kevinma/tacsl/collected_data/tools_mixed/val
+  test_data_path: /users/kevinma/tacsl/collected_data/tools_mixed/test
+  validate_grasping: false
+  grasp_threshold: 0.1
+  augmentation:
+    enabled: true
+    rotation_range: 30
+    translation_range: 0.1
+    noise_std: 0.001
+    point_cloud:
+      position_noise_std: 0.01
+      orientation_noise_std: 0.05
+      patch_removal:
+        enabled: true
+        num_patches: 3
+        patch_size_ratio: 0.05
+        removal_probability: 0.3
+    tactile:
+      noise_std: 0.001
+    pose:
+      noise_std: 0.005
+      velocity_noise_std: 0.01
+      delay_steps: 1
+      delay_probability: 0.2
+  tactile_filtering:
+    enabled: true
+    spatial:
+      enabled: true
+      method: gaussian
+      sigma: 0.25
+    temporal:
+      enabled: true
+      window_length: 7
+      polyorder: 1
+  tactile_normalization:
+    enabled: true
+    method: scale
+    scale_factor: 1000.0
+    clip_range:
+    - -10.0
+    - 10.0
+    per_channel: true
+training:
+  batch_size: 320
+  num_epochs: 400
+  learning_rate: 0.0001
+  weight_decay: 0.0001
+  accelerator: gpu
+  devices:
+  - 0
+  - 1
+  - 2
+  - 3
+  - 4
+  - 5
+  - 6
+  - 7
+  strategy: auto
+  precision: 32
+  gradient_clip_val: 1.0
+  accumulate_grad_batches: 1
+  scheduler:
+    type: plateau
+    mode: min
+    factor: 0.7
+    patience: 20
+    threshold: 1.0e-05
+    min_lr: 1.0e-07
+    verbose: true
+  loss:
+    contact_prob_weight: 1.0
+    contact_force_weight: 2.0
+    force_magnitude_weight: 0.0
+    tactile_reconstruction_weight: 0.5
+    contact_prob_loss_type: focal
+    focal_loss:
+      alpha: 0.9
+      gamma: 0.75
+      use_hard_labels: false
+      hard_label_cutoff: 0.5
+    bce_pos_weight: 1.0
+    contact_force_loss_type: magnitude_direction
+    use_magnitude_loss: false
+    magnitude_direction:
+      magnitude_loss_type: mse
+      magnitude_weight: 1.5
+      direction_loss_type: cosine
+      direction_weight: 1.0
+      magnitude_threshold: 0.005
+      use_adaptive_weighting: true
+      adaptive_weighting:
+        weighting_scheme: log_magnitude
+        min_weight: 1.0
+        max_weight: 3.0
+        temperature: 1.0
+  early_stopping:
+    patience: 100
+    min_delta: 1.0e-05
+  val_frequency: 1
+  save_frequency: 20
+optimizer:
+  type: AdamW
+  lr: 0.0001
+  weight_decay: 0.0001
+  betas:
+  - 0.9
+  - 0.999
+device: cuda
+num_workers: 0
+pin_memory: true
+logging:
+  log_dir: logs
+  experiment_name: ${experiment_name}
+  log_frequency: 100
+  use_timestamp: true
+wandb:
+  project: contact-field-estimation
+  entity: null
+  tags:
+  - contact_field
+  - tactile_pointnet_concat
+  - tactile_as_pointcloud
+  - no_pose_encoding
+  - no_reconstruction
+  - tools_mixed
+  notes: 'Tactile-as-pointcloud architecture: tactile converted to point cloud with
+    force channels, no explicit pose encoding, spatial reasoning only'
+  offline: false
+checkpoint:
+  save_dir: checkpoints
+  use_timestamp: true
+  save_best: true
+  save_latest: true
+  resume_from: null
+resume_from: null
+evaluation:
+  metrics:
+  - accuracy
+  - precision
+  - recall
+  - f1_score
+  - force_mse
+  visualize_predictions: true
+  save_predictions: true