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  1. 20260108_044713_penfingersect_hand_geo_2e-2_topo_4e-2_accum_1_des_1e-1_seed67/cmd_config.yaml +0 -25
  2. 20260108_044713_penfingersect_hand_geo_2e-2_topo_4e-2_accum_1_des_1e-1_seed67/config.yaml +0 -63
  3. 20260108_044713_penfingersect_hand_geo_2e-2_topo_4e-2_accum_1_des_1e-1_seed67/embeddings/gripper_idx0_design_3.540355355603497e-18_sim_0.048884338517906537.npz +0 -3
  4. 20260108_044713_penfingersect_hand_geo_2e-2_topo_4e-2_accum_1_des_1e-1_seed67/embeddings/gripper_idx12_design_0.0002034405479207635_sim_0.046845247065391164.npz +0 -3
  5. 20260108_044713_penfingersect_hand_geo_2e-2_topo_4e-2_accum_1_des_1e-1_seed67/embeddings/gripper_idx24_design_0.00041676947148516774_sim_0.044499993037046374.npz +0 -3
  6. 20260108_044713_penfingersect_hand_geo_2e-2_topo_4e-2_accum_1_des_1e-1_seed67/embeddings/gripper_idx36_design_0.0005829246947541833_sim_0.042321351113986355.npz +0 -3
  7. 20260108_044713_penfingersect_hand_geo_2e-2_topo_4e-2_accum_1_des_1e-1_seed67/embeddings/gripper_idx48_design_0.00026189041091129184_sim_0.04377469115327665.npz +0 -3
  8. 20260108_044713_penfingersect_hand_geo_2e-2_topo_4e-2_accum_1_des_1e-1_seed67/softzoo/Ep_Batch_-1_Sampling_0000_Local_0000.mp4 +0 -3
  9. 20260108_044713_penfingersect_hand_geo_2e-2_topo_4e-2_accum_1_des_1e-1_seed67/softzoo/Ep_Batch_-1_Sampling_0000_Local_0001.mp4 +0 -3
  10. 20260108_044713_penfingersect_hand_geo_2e-2_topo_4e-2_accum_1_des_1e-1_seed67/softzoo/Ep_Batch_-1_Sampling_0000_Local_0002.mp4 +0 -3
  11. 20260108_044713_penfingersect_hand_geo_2e-2_topo_4e-2_accum_1_des_1e-1_seed67/softzoo/Ep_Batch_-1_Sampling_0012_Local_0000.mp4 +0 -3
  12. 20260108_044713_penfingersect_hand_geo_2e-2_topo_4e-2_accum_1_des_1e-1_seed67/softzoo/Ep_Batch_-1_Sampling_0012_Local_0001.mp4 +0 -3
  13. 20260108_044713_penfingersect_hand_geo_2e-2_topo_4e-2_accum_1_des_1e-1_seed67/softzoo/Ep_Batch_-1_Sampling_0012_Local_0002.mp4 +0 -3
  14. 20260108_044713_penfingersect_hand_geo_2e-2_topo_4e-2_accum_1_des_1e-1_seed67/softzoo/Ep_Batch_-1_Sampling_0024_Local_0000.mp4 +0 -3
  15. 20260108_044713_penfingersect_hand_geo_2e-2_topo_4e-2_accum_1_des_1e-1_seed67/softzoo/Ep_Batch_-1_Sampling_0024_Local_0001.mp4 +0 -3
  16. 20260108_044713_penfingersect_hand_geo_2e-2_topo_4e-2_accum_1_des_1e-1_seed67/softzoo/Ep_Batch_-1_Sampling_0024_Local_0002.mp4 +0 -3
  17. 20260108_044713_penfingersect_hand_geo_2e-2_topo_4e-2_accum_1_des_1e-1_seed67/softzoo/Ep_Batch_-1_Sampling_0036_Local_0000.mp4 +0 -3
  18. 20260108_044713_penfingersect_hand_geo_2e-2_topo_4e-2_accum_1_des_1e-1_seed67/softzoo/Ep_Batch_-1_Sampling_0036_Local_0001.mp4 +0 -3
  19. 20260108_044713_penfingersect_hand_geo_2e-2_topo_4e-2_accum_1_des_1e-1_seed67/softzoo/Ep_Batch_-1_Sampling_0036_Local_0002.mp4 +0 -3
  20. 20260108_044713_penfingersect_hand_geo_2e-2_topo_4e-2_accum_1_des_1e-1_seed67/softzoo/Ep_Batch_-1_Sampling_0048_Local_0000.mp4 +0 -3
  21. 20260108_044713_penfingersect_hand_geo_2e-2_topo_4e-2_accum_1_des_1e-1_seed67/softzoo/Ep_Batch_-1_Sampling_0048_Local_0001.mp4 +0 -3
  22. 20260108_044713_penfingersect_hand_geo_2e-2_topo_4e-2_accum_1_des_1e-1_seed67/softzoo/Ep_Batch_-1_Sampling_0048_Local_0002.mp4 +0 -3
  23. 20260108_044713_penfingersect_hand_geo_2e-2_topo_4e-2_accum_1_des_1e-1_seed67/softzoo/ckpt/args.json +0 -229
  24. 20260108_044713_penfingersect_hand_geo_2e-2_topo_4e-2_accum_1_des_1e-1_seed67/softzoo/ckpt/env_config.yaml +0 -137
  25. 20260108_044713_penfingersect_hand_geo_2e-2_topo_4e-2_accum_1_des_1e-1_seed67/softzoo/design/geometry_sampling_0_iter_0_batch_0.ply +0 -0
  26. 20260108_044713_penfingersect_hand_geo_2e-2_topo_4e-2_accum_1_des_1e-1_seed67/softzoo/design/geometry_sampling_0_iter_16_batch_0.ply +0 -0
  27. 20260108_044713_penfingersect_hand_geo_2e-2_topo_4e-2_accum_1_des_1e-1_seed67/softzoo/design/geometry_sampling_0_iter_24_batch_0.ply +0 -0
  28. 20260108_044713_penfingersect_hand_geo_2e-2_topo_4e-2_accum_1_des_1e-1_seed67/softzoo/design/geometry_sampling_0_iter_32_batch_0.ply +0 -0
  29. 20260108_044713_penfingersect_hand_geo_2e-2_topo_4e-2_accum_1_des_1e-1_seed67/softzoo/design/geometry_sampling_0_iter_40_batch_0.ply +0 -0
  30. 20260108_044713_penfingersect_hand_geo_2e-2_topo_4e-2_accum_1_des_1e-1_seed67/softzoo/design/geometry_sampling_0_iter_48_batch_0.ply +0 -0
  31. 20260108_044713_penfingersect_hand_geo_2e-2_topo_4e-2_accum_1_des_1e-1_seed67/softzoo/design/geometry_sampling_0_iter_8_batch_0.ply +0 -0
  32. 20260108_044713_penfingersect_hand_geo_2e-2_topo_4e-2_accum_1_des_1e-1_seed67/softzoo/design/gripper_batch_-1.npz +0 -3
  33. 20260108_044713_penfingersect_hand_geo_2e-2_topo_4e-2_accum_1_des_1e-1_seed67/softzoo/design/mesh_sampling_0_iter_0_batch_0.ply +0 -0
  34. 20260108_044713_penfingersect_hand_geo_2e-2_topo_4e-2_accum_1_des_1e-1_seed67/softzoo/design/mesh_sampling_0_iter_16_batch_0.ply +0 -0
  35. 20260108_044713_penfingersect_hand_geo_2e-2_topo_4e-2_accum_1_des_1e-1_seed67/softzoo/design/mesh_sampling_0_iter_24_batch_0.ply +0 -0
  36. 20260108_044713_penfingersect_hand_geo_2e-2_topo_4e-2_accum_1_des_1e-1_seed67/softzoo/design/mesh_sampling_0_iter_32_batch_0.ply +0 -0
  37. 20260108_044713_penfingersect_hand_geo_2e-2_topo_4e-2_accum_1_des_1e-1_seed67/softzoo/design/mesh_sampling_0_iter_40_batch_0.ply +0 -0
  38. 20260108_044713_penfingersect_hand_geo_2e-2_topo_4e-2_accum_1_des_1e-1_seed67/softzoo/design/mesh_sampling_0_iter_48_batch_0.ply +0 -0
  39. 20260108_044713_penfingersect_hand_geo_2e-2_topo_4e-2_accum_1_des_1e-1_seed67/softzoo/design/mesh_sampling_0_iter_8_batch_0.ply +0 -32
  40. 20260108_044713_penfingersect_hand_geo_2e-2_topo_4e-2_accum_1_des_1e-1_seed67/training.log +0 -0
  41. 20260108_044713_penfingersect_hand_geo_2e-2_topo_4e-2_accum_1_des_1e-1_seed67/training_log.csv +0 -0
  42. 20260108_044713_penfingersect_hand_geo_2e-2_topo_4e-2_accum_1_des_1e-1_seed67/viz_gripper_dir/gripper_idx0_design_3.540355355603497e-18_sim_0.048884338517906537.ply +0 -3
  43. 20260108_044713_penfingersect_hand_geo_2e-2_topo_4e-2_accum_1_des_1e-1_seed67/viz_gripper_dir/gripper_idx12_design_0.0002034405479207635_sim_0.046845247065391164.ply +0 -3
  44. 20260108_044713_penfingersect_hand_geo_2e-2_topo_4e-2_accum_1_des_1e-1_seed67/viz_gripper_dir/gripper_idx24_design_0.00041676947148516774_sim_0.044499993037046374.ply +0 -3
  45. 20260108_044713_penfingersect_hand_geo_2e-2_topo_4e-2_accum_1_des_1e-1_seed67/viz_gripper_dir/gripper_idx36_design_0.0005829246947541833_sim_0.042321351113986355.ply +0 -3
  46. 20260108_044713_penfingersect_hand_geo_2e-2_topo_4e-2_accum_1_des_1e-1_seed67/viz_gripper_dir/gripper_idx48_design_0.00026189041091129184_sim_0.04377469115327665.ply +0 -3
20260108_044713_penfingersect_hand_geo_2e-2_topo_4e-2_accum_1_des_1e-1_seed67/cmd_config.yaml DELETED
@@ -1,25 +0,0 @@
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- accum_grad_sim: 1
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- designer_scale: 0.1
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- designer_type: branching
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- device: cuda:0
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- env_config: gripping_a_5_HTP_a_0.5_-0.5_-0.5_0.5_a_0.5.yaml
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- exp_name: penfingersect_hand_geo_2e-2_topo_4e-2_accum_1_des_1e-1
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- fixed_v_file: gripping_5_HTP.json
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- geometry_lr: 0.02
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- grad_clipping: 100.0
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- gripper_dim: 12
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- gumbel: true
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- init_emb_path: asset/embeddings/hand_stump_1_hard_09_3_soft_03.npz
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- layout_config_file: hand.json
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- max_epoch: 1000
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- num_fingers: 5
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- num_segments: 10
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- object_set_file: objects_set_a.json
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- optim_config_path: config/optimization_config/hand/pen_finger_sect.yaml
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- seed: 67
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- topo_lr: 0.04
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- zero_grad_dims:
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- - 8
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- - 9
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- - 10
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- - 11
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
20260108_044713_penfingersect_hand_geo_2e-2_topo_4e-2_accum_1_des_1e-1_seed67/config.yaml DELETED
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- exp_name: debug_server
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- seed: &seed 22
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- out_dir: ./logs/
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- tensorboard_log_dir: runs/
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- save_every_iter: &log_freq 12
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- total_steps: 512 # Check diffusion_cfg to see how many steps there are in diffusion (normal diffusion + upsampler)
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- substep_count: 1 # remember to update in diffusion config in pointe, under the k keys
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-
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- cond_config:
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- - name: "SoftZoo_Sim"
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- grad_scale: !!float 1e6
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- grad_clamp: !!float 1e0
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- calc_gradient: True
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- logging_bool: True
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- # - name: "Dist_To_Origin"
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- # grad_scale: !!float 1e0
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- # grad_clamp: !!float 1e-2
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- # calc_gradient: True
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- # logging_bool: True
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- cond_overall_logging: True
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-
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- softzoo_config:
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- custom_gravity: False
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- # eval: True
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- out_dir: null # Placeholder, need to be set in run.py
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- fixed_v: gripping_5_HTP.json
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- objects_set_file: objects_set_a.json
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- env_config_file: gripping_a_5_HTP_a_0.5_-0.5_-0.5_0.5_a_0.5.yaml # Placeholder, need to be inserted manually
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- layout_config_file: hand.json
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- save_every_iter: *log_freq
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- render_every_iter: 8
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- n_iters: 301
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- n_frames: 100
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-
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- controller_type: all_on
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- active: True
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- action_v_strength: 0.35
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-
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- loss_types: [ObjectBalancedLoss,ContactLoss,ThrowingObjectLoss]
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- loss_coefs: [0.5,2.0,2.0]
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- obj_x_mul: [0.,1.,0.]
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- obj_particle_id: 2
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-
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- design_loss_types: ['FingerPenLoss','SegmentGrowthLoss','SelfFingerPenLoss']
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- design_loss_coeffs: [0.1,0.001,0.1]
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-
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- seed: *seed # Placeholder, do not use
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- torch_seed: *seed # Placeholder, do not use
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- static_as_fixed: True
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- device_memory_fraction: 0.775
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-
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- optimize_designer: True
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- optimize_design_types: ['geometry','softness_E','softness_v','suction_val']
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- designer_lr: 0.1
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- optimize_controller: True
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- gen_pointe_bounding_box:
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- max: [1.5,0.1,1.5]
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- # mean: [0.,0.,0.]
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- min: [-1.5,-3.5,-1.5]
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-
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- design_device: cpu
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- obj_initial_pos: [0,0,0]
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- num_fingers: 2
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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