How to set the flag connect_tools_all ?

[avaa999]

Hi! Boey. Thank you for providing such a beautiful work! I noticed in the "construct_edges_from_state"function in graph.py that there is a line of code that reads:
if connect_tools_all: adj_matrix[obj_tool_mask_1] = 0 adj_matrix[obj_tool_mask_2] = 1 adj_matrix[tool_mask_12] = 0 # avoid tool to tool relations
I would like to understand why connect_tools_all is set to False. And in what scenarios would it be more beneficial to set connect_tools_all to True? Thank you for your time !

[Boey-li]

Hi, the connect_tools_all variable is used to link all object particles to the tool particle, rather than basing the connection on spatial distance. Typically, this is set to False because the intuition is that the tool primarily affects the dynamics of nearby object particles.

However, we apply this variable in the cloth case because cloth occupies a larger spatial area, and the default object-tool edge construction method struggles to learn the dynamics due to slow message passing. In this scenario, connecting all cloth particles to the tool effectively transmits the action message to distant object particles.

I hope this explanation clarifies things!