Upload folder using huggingface_hub

.gitattributes

@@ -975,3 +975,179 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 20260104_163550_reweighted_newselfloss_branch_check_geo_4e-2_topo_4e-2_accum_3_seed5678/viz_gripper_dir/gripper_idx72_design_0.0_sim_0.025055534588156222.ply filter=lfs diff=lfs merge=lfs -text
 20260104_163550_reweighted_newselfloss_branch_check_geo_4e-2_topo_4e-2_accum_3_seed5678/viz_gripper_dir/gripper_idx84_design_0.0_sim_0.02507260389624741.ply filter=lfs diff=lfs merge=lfs -text
 20260104_163550_reweighted_newselfloss_branch_check_geo_4e-2_topo_4e-2_accum_3_seed5678/viz_gripper_dir/gripper_idx96_design_0.0_sim_0.025079705795446647.ply filter=lfs diff=lfs merge=lfs -text
+20260105_035110_reweighted_newselfloss_branch_check_geo_2e-2_topo_4e-2_accum_3_seed999/softzoo/Ep_Batch_-1_Sampling_0000_Local_0000.mp4 filter=lfs diff=lfs merge=lfs -text
+20260105_035110_reweighted_newselfloss_branch_check_geo_2e-2_topo_4e-2_accum_3_seed999/softzoo/Ep_Batch_-1_Sampling_0012_Local_0000.mp4 filter=lfs diff=lfs merge=lfs -text
+20260105_035110_reweighted_newselfloss_branch_check_geo_2e-2_topo_4e-2_accum_3_seed999/softzoo/Ep_Batch_-1_Sampling_0024_Local_0000.mp4 filter=lfs diff=lfs merge=lfs -text
+20260105_035110_reweighted_newselfloss_branch_check_geo_2e-2_topo_4e-2_accum_3_seed999/softzoo/Ep_Batch_-1_Sampling_0036_Local_0000.mp4 filter=lfs diff=lfs merge=lfs -text
+20260105_035110_reweighted_newselfloss_branch_check_geo_2e-2_topo_4e-2_accum_3_seed999/softzoo/Ep_Batch_-1_Sampling_0048_Local_0000.mp4 filter=lfs diff=lfs merge=lfs -text
+20260105_035110_reweighted_newselfloss_branch_check_geo_2e-2_topo_4e-2_accum_3_seed999/softzoo/Ep_Batch_-1_Sampling_0060_Local_0000.mp4 filter=lfs diff=lfs merge=lfs -text
+20260105_035110_reweighted_newselfloss_branch_check_geo_2e-2_topo_4e-2_accum_3_seed999/softzoo/Ep_Batch_-1_Sampling_0072_Local_0000.mp4 filter=lfs diff=lfs merge=lfs -text
+20260105_035110_reweighted_newselfloss_branch_check_geo_2e-2_topo_4e-2_accum_3_seed999/softzoo/Ep_Batch_-1_Sampling_0084_Local_0000.mp4 filter=lfs diff=lfs merge=lfs -text
+20260105_035110_reweighted_newselfloss_branch_check_geo_2e-2_topo_4e-2_accum_3_seed999/softzoo/Ep_Batch_-1_Sampling_0096_Local_0000.mp4 filter=lfs diff=lfs merge=lfs -text
+20260105_035110_reweighted_newselfloss_branch_check_geo_2e-2_topo_4e-2_accum_3_seed999/softzoo/Ep_Batch_-1_Sampling_0108_Local_0000.mp4 filter=lfs diff=lfs merge=lfs -text
+20260105_035110_reweighted_newselfloss_branch_check_geo_2e-2_topo_4e-2_accum_3_seed999/softzoo/Ep_Batch_-1_Sampling_0120_Local_0000.mp4 filter=lfs diff=lfs merge=lfs -text
+20260105_035110_reweighted_newselfloss_branch_check_geo_2e-2_topo_4e-2_accum_3_seed999/softzoo/Ep_Batch_-1_Sampling_0132_Local_0000.mp4 filter=lfs diff=lfs merge=lfs -text
+20260105_035110_reweighted_newselfloss_branch_check_geo_2e-2_topo_4e-2_accum_3_seed999/softzoo/Ep_Batch_-1_Sampling_0144_Local_0000.mp4 filter=lfs diff=lfs merge=lfs -text
+20260105_035110_reweighted_newselfloss_branch_check_geo_2e-2_topo_4e-2_accum_3_seed999/softzoo/Ep_Batch_-1_Sampling_0156_Local_0000.mp4 filter=lfs diff=lfs merge=lfs -text
+20260105_035110_reweighted_newselfloss_branch_check_geo_2e-2_topo_4e-2_accum_3_seed999/softzoo/Ep_Batch_-1_Sampling_0168_Local_0000.mp4 filter=lfs diff=lfs merge=lfs -text
+20260105_035110_reweighted_newselfloss_branch_check_geo_2e-2_topo_4e-2_accum_3_seed999/softzoo/Ep_Batch_-1_Sampling_0180_Local_0000.mp4 filter=lfs diff=lfs merge=lfs -text
+20260105_035110_reweighted_newselfloss_branch_check_geo_2e-2_topo_4e-2_accum_3_seed999/softzoo/Ep_Batch_-1_Sampling_0192_Local_0000.mp4 filter=lfs diff=lfs merge=lfs -text
+20260105_035110_reweighted_newselfloss_branch_check_geo_2e-2_topo_4e-2_accum_3_seed999/softzoo/Ep_Batch_-1_Sampling_0204_Local_0000.mp4 filter=lfs diff=lfs merge=lfs -text
+20260105_035110_reweighted_newselfloss_branch_check_geo_2e-2_topo_4e-2_accum_3_seed999/softzoo/Ep_Batch_-1_Sampling_0216_Local_0000.mp4 filter=lfs diff=lfs merge=lfs -text
+20260105_035110_reweighted_newselfloss_branch_check_geo_2e-2_topo_4e-2_accum_3_seed999/softzoo/Ep_Batch_-1_Sampling_0228_Local_0000.mp4 filter=lfs diff=lfs merge=lfs -text
+20260105_035110_reweighted_newselfloss_branch_check_geo_2e-2_topo_4e-2_accum_3_seed999/softzoo/Ep_Batch_-1_Sampling_0240_Local_0000.mp4 filter=lfs diff=lfs merge=lfs -text
+20260105_035110_reweighted_newselfloss_branch_check_geo_2e-2_topo_4e-2_accum_3_seed999/softzoo/design/mesh_sampling_0_iter_232_batch_0.ply filter=lfs diff=lfs merge=lfs -text
+20260105_035110_reweighted_newselfloss_branch_check_geo_2e-2_topo_4e-2_accum_3_seed999/softzoo/design/mesh_sampling_0_iter_240_batch_0.ply filter=lfs diff=lfs merge=lfs -text
+20260105_035110_reweighted_newselfloss_branch_check_geo_2e-2_topo_4e-2_accum_3_seed999/softzoo/design/mesh_sampling_0_iter_40_batch_0.ply filter=lfs diff=lfs merge=lfs -text
+20260105_035110_reweighted_newselfloss_branch_check_geo_2e-2_topo_4e-2_accum_3_seed999/viz_gripper_dir/gripper_idx0_design_0.0_sim_0.049409895935745074.ply filter=lfs diff=lfs merge=lfs -text
+20260105_035110_reweighted_newselfloss_branch_check_geo_2e-2_topo_4e-2_accum_3_seed999/viz_gripper_dir/gripper_idx108_design_0.0_sim_0.04943403489432296.ply filter=lfs diff=lfs merge=lfs -text
+20260105_035110_reweighted_newselfloss_branch_check_geo_2e-2_topo_4e-2_accum_3_seed999/viz_gripper_dir/gripper_idx120_design_0.0_sim_0.04945130223902645.ply filter=lfs diff=lfs merge=lfs -text
+20260105_035110_reweighted_newselfloss_branch_check_geo_2e-2_topo_4e-2_accum_3_seed999/viz_gripper_dir/gripper_idx12_design_0.0_sim_0.04941470300358958.ply filter=lfs diff=lfs merge=lfs -text
+20260105_035110_reweighted_newselfloss_branch_check_geo_2e-2_topo_4e-2_accum_3_seed999/viz_gripper_dir/gripper_idx132_design_0.0_sim_0.049446157786152564.ply filter=lfs diff=lfs merge=lfs -text
+20260105_035110_reweighted_newselfloss_branch_check_geo_2e-2_topo_4e-2_accum_3_seed999/viz_gripper_dir/gripper_idx144_design_0.0_sim_0.049450647669482845.ply filter=lfs diff=lfs merge=lfs -text
+20260105_035110_reweighted_newselfloss_branch_check_geo_2e-2_topo_4e-2_accum_3_seed999/viz_gripper_dir/gripper_idx156_design_0.0_sim_0.04946985535432879.ply filter=lfs diff=lfs merge=lfs -text
+20260105_035110_reweighted_newselfloss_branch_check_geo_2e-2_topo_4e-2_accum_3_seed999/viz_gripper_dir/gripper_idx168_design_0.0_sim_0.04947576584898458.ply filter=lfs diff=lfs merge=lfs -text
+20260105_035110_reweighted_newselfloss_branch_check_geo_2e-2_topo_4e-2_accum_3_seed999/viz_gripper_dir/gripper_idx180_design_0.0_sim_0.0494622722899878.ply filter=lfs diff=lfs merge=lfs -text
+20260105_035110_reweighted_newselfloss_branch_check_geo_2e-2_topo_4e-2_accum_3_seed999/viz_gripper_dir/gripper_idx192_design_0.0_sim_0.04944905899255114.ply filter=lfs diff=lfs merge=lfs -text
+20260105_035110_reweighted_newselfloss_branch_check_geo_2e-2_topo_4e-2_accum_3_seed999/viz_gripper_dir/gripper_idx204_design_0.0_sim_0.0494458874135991.ply filter=lfs diff=lfs merge=lfs -text
+20260105_035110_reweighted_newselfloss_branch_check_geo_2e-2_topo_4e-2_accum_3_seed999/viz_gripper_dir/gripper_idx216_design_0.0_sim_0.04944362915619062.ply filter=lfs diff=lfs merge=lfs -text
+20260105_035110_reweighted_newselfloss_branch_check_geo_2e-2_topo_4e-2_accum_3_seed999/viz_gripper_dir/gripper_idx228_design_0.0_sim_0.049451077461258125.ply filter=lfs diff=lfs merge=lfs -text
+20260105_035110_reweighted_newselfloss_branch_check_geo_2e-2_topo_4e-2_accum_3_seed999/viz_gripper_dir/gripper_idx240_design_0.0_sim_0.04945283377396986.ply filter=lfs diff=lfs merge=lfs -text
+20260105_035110_reweighted_newselfloss_branch_check_geo_2e-2_topo_4e-2_accum_3_seed999/viz_gripper_dir/gripper_idx24_design_0.0_sim_0.04940913735817728.ply filter=lfs diff=lfs merge=lfs -text
+20260105_035110_reweighted_newselfloss_branch_check_geo_2e-2_topo_4e-2_accum_3_seed999/viz_gripper_dir/gripper_idx36_design_0.0_sim_0.04941453055424947.ply filter=lfs diff=lfs merge=lfs -text
+20260105_035110_reweighted_newselfloss_branch_check_geo_2e-2_topo_4e-2_accum_3_seed999/viz_gripper_dir/gripper_idx48_design_0.0_sim_0.049414110837453604.ply filter=lfs diff=lfs merge=lfs -text
+20260105_035110_reweighted_newselfloss_branch_check_geo_2e-2_topo_4e-2_accum_3_seed999/viz_gripper_dir/gripper_idx60_design_0.0_sim_0.04941282584710907.ply filter=lfs diff=lfs merge=lfs -text
+20260105_035110_reweighted_newselfloss_branch_check_geo_2e-2_topo_4e-2_accum_3_seed999/viz_gripper_dir/gripper_idx72_design_0.0_sim_0.049420337571628864.ply filter=lfs diff=lfs merge=lfs -text
+20260105_035110_reweighted_newselfloss_branch_check_geo_2e-2_topo_4e-2_accum_3_seed999/viz_gripper_dir/gripper_idx84_design_0.0_sim_0.04940979485437286.ply filter=lfs diff=lfs merge=lfs -text
+20260105_035110_reweighted_newselfloss_branch_check_geo_2e-2_topo_4e-2_accum_3_seed999/viz_gripper_dir/gripper_idx96_design_0.0_sim_0.049431459521747614.ply filter=lfs diff=lfs merge=lfs -text
+20260105_035231_suckier_reweighted_newselfloss_branch_check_geo_2e-2_topo_4e-2_accum_3_seed46434/softzoo/Ep_Batch_-1_Sampling_0000_Local_0000.mp4 filter=lfs diff=lfs merge=lfs -text
+20260105_035231_suckier_reweighted_newselfloss_branch_check_geo_2e-2_topo_4e-2_accum_3_seed46434/softzoo/Ep_Batch_-1_Sampling_0012_Local_0000.mp4 filter=lfs diff=lfs merge=lfs -text
+20260105_035231_suckier_reweighted_newselfloss_branch_check_geo_2e-2_topo_4e-2_accum_3_seed46434/softzoo/Ep_Batch_-1_Sampling_0024_Local_0000.mp4 filter=lfs diff=lfs merge=lfs -text
+20260105_035231_suckier_reweighted_newselfloss_branch_check_geo_2e-2_topo_4e-2_accum_3_seed46434/softzoo/Ep_Batch_-1_Sampling_0036_Local_0000.mp4 filter=lfs diff=lfs merge=lfs -text
+20260105_035231_suckier_reweighted_newselfloss_branch_check_geo_2e-2_topo_4e-2_accum_3_seed46434/softzoo/Ep_Batch_-1_Sampling_0048_Local_0000.mp4 filter=lfs diff=lfs merge=lfs -text
+20260105_035231_suckier_reweighted_newselfloss_branch_check_geo_2e-2_topo_4e-2_accum_3_seed46434/softzoo/Ep_Batch_-1_Sampling_0060_Local_0000.mp4 filter=lfs diff=lfs merge=lfs -text
+20260105_035231_suckier_reweighted_newselfloss_branch_check_geo_2e-2_topo_4e-2_accum_3_seed46434/softzoo/Ep_Batch_-1_Sampling_0072_Local_0000.mp4 filter=lfs diff=lfs merge=lfs -text
+20260105_035231_suckier_reweighted_newselfloss_branch_check_geo_2e-2_topo_4e-2_accum_3_seed46434/softzoo/Ep_Batch_-1_Sampling_0084_Local_0000.mp4 filter=lfs diff=lfs merge=lfs -text
+20260105_035231_suckier_reweighted_newselfloss_branch_check_geo_2e-2_topo_4e-2_accum_3_seed46434/softzoo/Ep_Batch_-1_Sampling_0096_Local_0000.mp4 filter=lfs diff=lfs merge=lfs -text
+20260105_035231_suckier_reweighted_newselfloss_branch_check_geo_2e-2_topo_4e-2_accum_3_seed46434/softzoo/Ep_Batch_-1_Sampling_0108_Local_0000.mp4 filter=lfs diff=lfs merge=lfs -text
+20260105_035231_suckier_reweighted_newselfloss_branch_check_geo_2e-2_topo_4e-2_accum_3_seed46434/softzoo/Ep_Batch_-1_Sampling_0120_Local_0000.mp4 filter=lfs diff=lfs merge=lfs -text
+20260105_035231_suckier_reweighted_newselfloss_branch_check_geo_2e-2_topo_4e-2_accum_3_seed46434/softzoo/Ep_Batch_-1_Sampling_0132_Local_0000.mp4 filter=lfs diff=lfs merge=lfs -text
+20260105_035231_suckier_reweighted_newselfloss_branch_check_geo_2e-2_topo_4e-2_accum_3_seed46434/softzoo/Ep_Batch_-1_Sampling_0144_Local_0000.mp4 filter=lfs diff=lfs merge=lfs -text
+20260105_035231_suckier_reweighted_newselfloss_branch_check_geo_2e-2_topo_4e-2_accum_3_seed46434/softzoo/Ep_Batch_-1_Sampling_0156_Local_0000.mp4 filter=lfs diff=lfs merge=lfs -text
+20260105_035231_suckier_reweighted_newselfloss_branch_check_geo_2e-2_topo_4e-2_accum_3_seed46434/softzoo/Ep_Batch_-1_Sampling_0168_Local_0000.mp4 filter=lfs diff=lfs merge=lfs -text
+20260105_035231_suckier_reweighted_newselfloss_branch_check_geo_2e-2_topo_4e-2_accum_3_seed46434/softzoo/Ep_Batch_-1_Sampling_0180_Local_0000.mp4 filter=lfs diff=lfs merge=lfs -text
+20260105_035231_suckier_reweighted_newselfloss_branch_check_geo_2e-2_topo_4e-2_accum_3_seed46434/softzoo/Ep_Batch_-1_Sampling_0192_Local_0000.mp4 filter=lfs diff=lfs merge=lfs -text
+20260105_035231_suckier_reweighted_newselfloss_branch_check_geo_2e-2_topo_4e-2_accum_3_seed46434/softzoo/Ep_Batch_-1_Sampling_0204_Local_0000.mp4 filter=lfs diff=lfs merge=lfs -text
+20260105_035231_suckier_reweighted_newselfloss_branch_check_geo_2e-2_topo_4e-2_accum_3_seed46434/softzoo/Ep_Batch_-1_Sampling_0216_Local_0000.mp4 filter=lfs diff=lfs merge=lfs -text
+20260105_035231_suckier_reweighted_newselfloss_branch_check_geo_2e-2_topo_4e-2_accum_3_seed46434/viz_gripper_dir/gripper_idx0_design_0.0_sim_0.04941392152428497.ply filter=lfs diff=lfs merge=lfs -text
+20260105_035231_suckier_reweighted_newselfloss_branch_check_geo_2e-2_topo_4e-2_accum_3_seed46434/viz_gripper_dir/gripper_idx108_design_7.47544108889997e-05_sim_0.04751177645834885.ply filter=lfs diff=lfs merge=lfs -text
+20260105_035231_suckier_reweighted_newselfloss_branch_check_geo_2e-2_topo_4e-2_accum_3_seed46434/viz_gripper_dir/gripper_idx120_design_7.278845441760495e-05_sim_0.048033235434889236.ply filter=lfs diff=lfs merge=lfs -text
+20260105_035231_suckier_reweighted_newselfloss_branch_check_geo_2e-2_topo_4e-2_accum_3_seed46434/viz_gripper_dir/gripper_idx12_design_0.0_sim_0.0494185916809236.ply filter=lfs diff=lfs merge=lfs -text
+20260105_035231_suckier_reweighted_newselfloss_branch_check_geo_2e-2_topo_4e-2_accum_3_seed46434/viz_gripper_dir/gripper_idx132_design_7.002263009781018e-05_sim_0.048087302911496106.ply filter=lfs diff=lfs merge=lfs -text
+20260105_035231_suckier_reweighted_newselfloss_branch_check_geo_2e-2_topo_4e-2_accum_3_seed46434/viz_gripper_dir/gripper_idx144_design_6.755533831892535e-05_sim_0.04931518427829739.ply filter=lfs diff=lfs merge=lfs -text
+20260105_035231_suckier_reweighted_newselfloss_branch_check_geo_2e-2_topo_4e-2_accum_3_seed46434/viz_gripper_dir/gripper_idx156_design_4.4561398681253195e-05_sim_0.047898668066073624.ply filter=lfs diff=lfs merge=lfs -text
+20260105_035231_suckier_reweighted_newselfloss_branch_check_geo_2e-2_topo_4e-2_accum_3_seed46434/viz_gripper_dir/gripper_idx168_design_4.339596853242256e-05_sim_0.04804668904246874.ply filter=lfs diff=lfs merge=lfs -text
+20260105_035231_suckier_reweighted_newselfloss_branch_check_geo_2e-2_topo_4e-2_accum_3_seed46434/viz_gripper_dir/gripper_idx180_design_1.570236599945929e-05_sim_0.04476085881298769.ply filter=lfs diff=lfs merge=lfs -text
+20260105_035231_suckier_reweighted_newselfloss_branch_check_geo_2e-2_topo_4e-2_accum_3_seed46434/viz_gripper_dir/gripper_idx192_design_2.294616206199862e-05_sim_0.045465411278805185.ply filter=lfs diff=lfs merge=lfs -text
+20260105_035231_suckier_reweighted_newselfloss_branch_check_geo_2e-2_topo_4e-2_accum_3_seed46434/viz_gripper_dir/gripper_idx204_design_2.2793718017055653e-05_sim_0.045649164591815596.ply filter=lfs diff=lfs merge=lfs -text
+20260105_035231_suckier_reweighted_newselfloss_branch_check_geo_2e-2_topo_4e-2_accum_3_seed46434/viz_gripper_dir/gripper_idx216_design_2.2841591999167576e-05_sim_0.044451374024995216.ply filter=lfs diff=lfs merge=lfs -text
+20260105_035231_suckier_reweighted_newselfloss_branch_check_geo_2e-2_topo_4e-2_accum_3_seed46434/viz_gripper_dir/gripper_idx24_design_0.00026579658151604235_sim_0.048325197342356796.ply filter=lfs diff=lfs merge=lfs -text
+20260105_035231_suckier_reweighted_newselfloss_branch_check_geo_2e-2_topo_4e-2_accum_3_seed46434/viz_gripper_dir/gripper_idx36_design_0.00014102220302447677_sim_0.049264217690343184.ply filter=lfs diff=lfs merge=lfs -text
+20260105_035231_suckier_reweighted_newselfloss_branch_check_geo_2e-2_topo_4e-2_accum_3_seed46434/viz_gripper_dir/gripper_idx48_design_0.00013787350326310843_sim_0.04916837029319492.ply filter=lfs diff=lfs merge=lfs -text
+20260105_035231_suckier_reweighted_newselfloss_branch_check_geo_2e-2_topo_4e-2_accum_3_seed46434/viz_gripper_dir/gripper_idx60_design_0.00010626885341480374_sim_0.04873856461173162.ply filter=lfs diff=lfs merge=lfs -text
+20260105_035231_suckier_reweighted_newselfloss_branch_check_geo_2e-2_topo_4e-2_accum_3_seed46434/viz_gripper_dir/gripper_idx72_design_8.812203304842114e-05_sim_0.048155713884135996.ply filter=lfs diff=lfs merge=lfs -text
+20260105_035231_suckier_reweighted_newselfloss_branch_check_geo_2e-2_topo_4e-2_accum_3_seed46434/viz_gripper_dir/gripper_idx84_design_8.484972204314545e-05_sim_0.04746158235043817.ply filter=lfs diff=lfs merge=lfs -text
+20260105_035231_suckier_reweighted_newselfloss_branch_check_geo_2e-2_topo_4e-2_accum_3_seed46434/viz_gripper_dir/gripper_idx96_design_7.726992771495134e-05_sim_0.04739909889456156.ply filter=lfs diff=lfs merge=lfs -text
+20260105_035520_drastic_nogumbell_2hard3soft_geo_2e-2_topo_1e-1_accum_3_seed424678/softzoo/Ep_Batch_-1_Sampling_0000_Local_0000.mp4 filter=lfs diff=lfs merge=lfs -text
+20260105_035520_drastic_nogumbell_2hard3soft_geo_2e-2_topo_1e-1_accum_3_seed424678/softzoo/Ep_Batch_-1_Sampling_0000_Local_0001.mp4 filter=lfs diff=lfs merge=lfs -text
+20260105_035520_drastic_nogumbell_2hard3soft_geo_2e-2_topo_1e-1_accum_3_seed424678/softzoo/Ep_Batch_-1_Sampling_0000_Local_0002.mp4 filter=lfs diff=lfs merge=lfs -text
+20260105_035520_drastic_nogumbell_2hard3soft_geo_2e-2_topo_1e-1_accum_3_seed424678/softzoo/Ep_Batch_-1_Sampling_0012_Local_0000.mp4 filter=lfs diff=lfs merge=lfs -text
+20260105_035520_drastic_nogumbell_2hard3soft_geo_2e-2_topo_1e-1_accum_3_seed424678/softzoo/Ep_Batch_-1_Sampling_0012_Local_0001.mp4 filter=lfs diff=lfs merge=lfs -text
+20260105_035520_drastic_nogumbell_2hard3soft_geo_2e-2_topo_1e-1_accum_3_seed424678/softzoo/Ep_Batch_-1_Sampling_0012_Local_0002.mp4 filter=lfs diff=lfs merge=lfs -text
+20260105_035520_drastic_nogumbell_2hard3soft_geo_2e-2_topo_1e-1_accum_3_seed424678/softzoo/Ep_Batch_-1_Sampling_0024_Local_0000.mp4 filter=lfs diff=lfs merge=lfs -text
+20260105_035520_drastic_nogumbell_2hard3soft_geo_2e-2_topo_1e-1_accum_3_seed424678/softzoo/Ep_Batch_-1_Sampling_0024_Local_0001.mp4 filter=lfs diff=lfs merge=lfs -text
+20260105_035520_drastic_nogumbell_2hard3soft_geo_2e-2_topo_1e-1_accum_3_seed424678/softzoo/Ep_Batch_-1_Sampling_0024_Local_0002.mp4 filter=lfs diff=lfs merge=lfs -text
+20260105_035520_drastic_nogumbell_2hard3soft_geo_2e-2_topo_1e-1_accum_3_seed424678/softzoo/Ep_Batch_-1_Sampling_0036_Local_0000.mp4 filter=lfs diff=lfs merge=lfs -text
+20260105_035520_drastic_nogumbell_2hard3soft_geo_2e-2_topo_1e-1_accum_3_seed424678/softzoo/Ep_Batch_-1_Sampling_0036_Local_0001.mp4 filter=lfs diff=lfs merge=lfs -text
+20260105_035520_drastic_nogumbell_2hard3soft_geo_2e-2_topo_1e-1_accum_3_seed424678/softzoo/Ep_Batch_-1_Sampling_0036_Local_0002.mp4 filter=lfs diff=lfs merge=lfs -text
+20260105_035520_drastic_nogumbell_2hard3soft_geo_2e-2_topo_1e-1_accum_3_seed424678/softzoo/Ep_Batch_-1_Sampling_0048_Local_0000.mp4 filter=lfs diff=lfs merge=lfs -text
+20260105_035520_drastic_nogumbell_2hard3soft_geo_2e-2_topo_1e-1_accum_3_seed424678/softzoo/Ep_Batch_-1_Sampling_0048_Local_0001.mp4 filter=lfs diff=lfs merge=lfs -text
+20260105_035520_drastic_nogumbell_2hard3soft_geo_2e-2_topo_1e-1_accum_3_seed424678/softzoo/Ep_Batch_-1_Sampling_0048_Local_0002.mp4 filter=lfs diff=lfs merge=lfs -text
+20260105_035520_drastic_nogumbell_2hard3soft_geo_2e-2_topo_1e-1_accum_3_seed424678/softzoo/Ep_Batch_-1_Sampling_0060_Local_0000.mp4 filter=lfs diff=lfs merge=lfs -text
+20260105_035520_drastic_nogumbell_2hard3soft_geo_2e-2_topo_1e-1_accum_3_seed424678/softzoo/Ep_Batch_-1_Sampling_0060_Local_0001.mp4 filter=lfs diff=lfs merge=lfs -text
+20260105_035520_drastic_nogumbell_2hard3soft_geo_2e-2_topo_1e-1_accum_3_seed424678/softzoo/Ep_Batch_-1_Sampling_0060_Local_0002.mp4 filter=lfs diff=lfs merge=lfs -text
+20260105_035520_drastic_nogumbell_2hard3soft_geo_2e-2_topo_1e-1_accum_3_seed424678/softzoo/Ep_Batch_-1_Sampling_0072_Local_0000.mp4 filter=lfs diff=lfs merge=lfs -text
+20260105_035520_drastic_nogumbell_2hard3soft_geo_2e-2_topo_1e-1_accum_3_seed424678/softzoo/Ep_Batch_-1_Sampling_0072_Local_0001.mp4 filter=lfs diff=lfs merge=lfs -text
+20260105_035520_drastic_nogumbell_2hard3soft_geo_2e-2_topo_1e-1_accum_3_seed424678/softzoo/Ep_Batch_-1_Sampling_0072_Local_0002.mp4 filter=lfs diff=lfs merge=lfs -text
+20260105_035520_drastic_nogumbell_2hard3soft_geo_2e-2_topo_1e-1_accum_3_seed424678/softzoo/Ep_Batch_-1_Sampling_0084_Local_0000.mp4 filter=lfs diff=lfs merge=lfs -text
+20260105_035520_drastic_nogumbell_2hard3soft_geo_2e-2_topo_1e-1_accum_3_seed424678/softzoo/Ep_Batch_-1_Sampling_0084_Local_0001.mp4 filter=lfs diff=lfs merge=lfs -text
+20260105_035520_drastic_nogumbell_2hard3soft_geo_2e-2_topo_1e-1_accum_3_seed424678/softzoo/Ep_Batch_-1_Sampling_0084_Local_0002.mp4 filter=lfs diff=lfs merge=lfs -text
+20260105_035520_drastic_nogumbell_2hard3soft_geo_2e-2_topo_1e-1_accum_3_seed424678/softzoo/Ep_Batch_-1_Sampling_0096_Local_0000.mp4 filter=lfs diff=lfs merge=lfs -text
+20260105_035520_drastic_nogumbell_2hard3soft_geo_2e-2_topo_1e-1_accum_3_seed424678/softzoo/Ep_Batch_-1_Sampling_0096_Local_0001.mp4 filter=lfs diff=lfs merge=lfs -text
+20260105_035520_drastic_nogumbell_2hard3soft_geo_2e-2_topo_1e-1_accum_3_seed424678/softzoo/Ep_Batch_-1_Sampling_0096_Local_0002.mp4 filter=lfs diff=lfs merge=lfs -text
+20260105_035520_drastic_nogumbell_2hard3soft_geo_2e-2_topo_1e-1_accum_3_seed424678/softzoo/Ep_Batch_-1_Sampling_0108_Local_0000.mp4 filter=lfs diff=lfs merge=lfs -text
+20260105_035520_drastic_nogumbell_2hard3soft_geo_2e-2_topo_1e-1_accum_3_seed424678/softzoo/Ep_Batch_-1_Sampling_0108_Local_0001.mp4 filter=lfs diff=lfs merge=lfs -text
+20260105_035520_drastic_nogumbell_2hard3soft_geo_2e-2_topo_1e-1_accum_3_seed424678/softzoo/Ep_Batch_-1_Sampling_0108_Local_0002.mp4 filter=lfs diff=lfs merge=lfs -text
+20260105_035520_drastic_nogumbell_2hard3soft_geo_2e-2_topo_1e-1_accum_3_seed424678/softzoo/Ep_Batch_-1_Sampling_0120_Local_0000.mp4 filter=lfs diff=lfs merge=lfs -text
+20260105_035520_drastic_nogumbell_2hard3soft_geo_2e-2_topo_1e-1_accum_3_seed424678/softzoo/Ep_Batch_-1_Sampling_0120_Local_0001.mp4 filter=lfs diff=lfs merge=lfs -text
+20260105_035520_drastic_nogumbell_2hard3soft_geo_2e-2_topo_1e-1_accum_3_seed424678/softzoo/Ep_Batch_-1_Sampling_0120_Local_0002.mp4 filter=lfs diff=lfs merge=lfs -text
+20260105_035520_drastic_nogumbell_2hard3soft_geo_2e-2_topo_1e-1_accum_3_seed424678/softzoo/Ep_Batch_-1_Sampling_0132_Local_0000.mp4 filter=lfs diff=lfs merge=lfs -text
+20260105_035520_drastic_nogumbell_2hard3soft_geo_2e-2_topo_1e-1_accum_3_seed424678/softzoo/Ep_Batch_-1_Sampling_0132_Local_0001.mp4 filter=lfs diff=lfs merge=lfs -text
+20260105_035520_drastic_nogumbell_2hard3soft_geo_2e-2_topo_1e-1_accum_3_seed424678/softzoo/Ep_Batch_-1_Sampling_0132_Local_0002.mp4 filter=lfs diff=lfs merge=lfs -text
+20260105_035520_drastic_nogumbell_2hard3soft_geo_2e-2_topo_1e-1_accum_3_seed424678/softzoo/Ep_Batch_-1_Sampling_0144_Local_0000.mp4 filter=lfs diff=lfs merge=lfs -text
+20260105_035520_drastic_nogumbell_2hard3soft_geo_2e-2_topo_1e-1_accum_3_seed424678/softzoo/Ep_Batch_-1_Sampling_0144_Local_0001.mp4 filter=lfs diff=lfs merge=lfs -text
+20260105_035520_drastic_nogumbell_2hard3soft_geo_2e-2_topo_1e-1_accum_3_seed424678/softzoo/Ep_Batch_-1_Sampling_0144_Local_0002.mp4 filter=lfs diff=lfs merge=lfs -text
+20260105_035520_drastic_nogumbell_2hard3soft_geo_2e-2_topo_1e-1_accum_3_seed424678/softzoo/Ep_Batch_-1_Sampling_0156_Local_0000.mp4 filter=lfs diff=lfs merge=lfs -text
+20260105_035520_drastic_nogumbell_2hard3soft_geo_2e-2_topo_1e-1_accum_3_seed424678/softzoo/Ep_Batch_-1_Sampling_0156_Local_0001.mp4 filter=lfs diff=lfs merge=lfs -text
+20260105_035520_drastic_nogumbell_2hard3soft_geo_2e-2_topo_1e-1_accum_3_seed424678/softzoo/Ep_Batch_-1_Sampling_0156_Local_0002.mp4 filter=lfs diff=lfs merge=lfs -text
+20260105_035520_drastic_nogumbell_2hard3soft_geo_2e-2_topo_1e-1_accum_3_seed424678/softzoo/Ep_Batch_-1_Sampling_0168_Local_0000.mp4 filter=lfs diff=lfs merge=lfs -text
+20260105_035520_drastic_nogumbell_2hard3soft_geo_2e-2_topo_1e-1_accum_3_seed424678/softzoo/Ep_Batch_-1_Sampling_0168_Local_0001.mp4 filter=lfs diff=lfs merge=lfs -text
+20260105_035520_drastic_nogumbell_2hard3soft_geo_2e-2_topo_1e-1_accum_3_seed424678/softzoo/Ep_Batch_-1_Sampling_0168_Local_0002.mp4 filter=lfs diff=lfs merge=lfs -text
+20260105_035520_drastic_nogumbell_2hard3soft_geo_2e-2_topo_1e-1_accum_3_seed424678/softzoo/Ep_Batch_-1_Sampling_0180_Local_0000.mp4 filter=lfs diff=lfs merge=lfs -text
+20260105_035520_drastic_nogumbell_2hard3soft_geo_2e-2_topo_1e-1_accum_3_seed424678/softzoo/Ep_Batch_-1_Sampling_0180_Local_0001.mp4 filter=lfs diff=lfs merge=lfs -text
+20260105_035520_drastic_nogumbell_2hard3soft_geo_2e-2_topo_1e-1_accum_3_seed424678/softzoo/Ep_Batch_-1_Sampling_0180_Local_0002.mp4 filter=lfs diff=lfs merge=lfs -text
+20260105_035520_drastic_nogumbell_2hard3soft_geo_2e-2_topo_1e-1_accum_3_seed424678/softzoo/Ep_Batch_-1_Sampling_0192_Local_0000.mp4 filter=lfs diff=lfs merge=lfs -text
+20260105_035520_drastic_nogumbell_2hard3soft_geo_2e-2_topo_1e-1_accum_3_seed424678/softzoo/Ep_Batch_-1_Sampling_0192_Local_0001.mp4 filter=lfs diff=lfs merge=lfs -text
+20260105_035520_drastic_nogumbell_2hard3soft_geo_2e-2_topo_1e-1_accum_3_seed424678/softzoo/Ep_Batch_-1_Sampling_0192_Local_0002.mp4 filter=lfs diff=lfs merge=lfs -text
+20260105_035520_drastic_nogumbell_2hard3soft_geo_2e-2_topo_1e-1_accum_3_seed424678/softzoo/design/mesh_sampling_0_iter_0_batch_0.ply filter=lfs diff=lfs merge=lfs -text
+20260105_035520_drastic_nogumbell_2hard3soft_geo_2e-2_topo_1e-1_accum_3_seed424678/softzoo/design/mesh_sampling_0_iter_104_batch_0.ply filter=lfs diff=lfs merge=lfs -text
+20260105_035520_drastic_nogumbell_2hard3soft_geo_2e-2_topo_1e-1_accum_3_seed424678/softzoo/design/mesh_sampling_0_iter_112_batch_0.ply filter=lfs diff=lfs merge=lfs -text
+20260105_035520_drastic_nogumbell_2hard3soft_geo_2e-2_topo_1e-1_accum_3_seed424678/softzoo/design/mesh_sampling_0_iter_120_batch_0.ply filter=lfs diff=lfs merge=lfs -text
+20260105_035520_drastic_nogumbell_2hard3soft_geo_2e-2_topo_1e-1_accum_3_seed424678/softzoo/design/mesh_sampling_0_iter_128_batch_0.ply filter=lfs diff=lfs merge=lfs -text
+20260105_035520_drastic_nogumbell_2hard3soft_geo_2e-2_topo_1e-1_accum_3_seed424678/softzoo/design/mesh_sampling_0_iter_136_batch_0.ply filter=lfs diff=lfs merge=lfs -text
+20260105_035520_drastic_nogumbell_2hard3soft_geo_2e-2_topo_1e-1_accum_3_seed424678/softzoo/design/mesh_sampling_0_iter_144_batch_0.ply filter=lfs diff=lfs merge=lfs -text
+20260105_035520_drastic_nogumbell_2hard3soft_geo_2e-2_topo_1e-1_accum_3_seed424678/softzoo/design/mesh_sampling_0_iter_152_batch_0.ply filter=lfs diff=lfs merge=lfs -text
+20260105_035520_drastic_nogumbell_2hard3soft_geo_2e-2_topo_1e-1_accum_3_seed424678/softzoo/design/mesh_sampling_0_iter_160_batch_0.ply filter=lfs diff=lfs merge=lfs -text
+20260105_035520_drastic_nogumbell_2hard3soft_geo_2e-2_topo_1e-1_accum_3_seed424678/softzoo/design/mesh_sampling_0_iter_168_batch_0.ply filter=lfs diff=lfs merge=lfs -text
+20260105_035520_drastic_nogumbell_2hard3soft_geo_2e-2_topo_1e-1_accum_3_seed424678/softzoo/design/mesh_sampling_0_iter_16_batch_0.ply filter=lfs diff=lfs merge=lfs -text
+20260105_035520_drastic_nogumbell_2hard3soft_geo_2e-2_topo_1e-1_accum_3_seed424678/softzoo/design/mesh_sampling_0_iter_176_batch_0.ply filter=lfs diff=lfs merge=lfs -text
+20260105_035520_drastic_nogumbell_2hard3soft_geo_2e-2_topo_1e-1_accum_3_seed424678/softzoo/design/mesh_sampling_0_iter_184_batch_0.ply filter=lfs diff=lfs merge=lfs -text
+20260105_035520_drastic_nogumbell_2hard3soft_geo_2e-2_topo_1e-1_accum_3_seed424678/softzoo/design/mesh_sampling_0_iter_192_batch_0.ply filter=lfs diff=lfs merge=lfs -text
+20260105_035520_drastic_nogumbell_2hard3soft_geo_2e-2_topo_1e-1_accum_3_seed424678/softzoo/design/mesh_sampling_0_iter_24_batch_0.ply filter=lfs diff=lfs merge=lfs -text
+20260105_035520_drastic_nogumbell_2hard3soft_geo_2e-2_topo_1e-1_accum_3_seed424678/softzoo/design/mesh_sampling_0_iter_32_batch_0.ply filter=lfs diff=lfs merge=lfs -text
+20260105_035520_drastic_nogumbell_2hard3soft_geo_2e-2_topo_1e-1_accum_3_seed424678/softzoo/design/mesh_sampling_0_iter_40_batch_0.ply filter=lfs diff=lfs merge=lfs -text
+20260105_035520_drastic_nogumbell_2hard3soft_geo_2e-2_topo_1e-1_accum_3_seed424678/softzoo/design/mesh_sampling_0_iter_48_batch_0.ply filter=lfs diff=lfs merge=lfs -text
+20260105_035520_drastic_nogumbell_2hard3soft_geo_2e-2_topo_1e-1_accum_3_seed424678/softzoo/design/mesh_sampling_0_iter_56_batch_0.ply filter=lfs diff=lfs merge=lfs -text
+20260105_035520_drastic_nogumbell_2hard3soft_geo_2e-2_topo_1e-1_accum_3_seed424678/softzoo/design/mesh_sampling_0_iter_64_batch_0.ply filter=lfs diff=lfs merge=lfs -text
+20260105_035520_drastic_nogumbell_2hard3soft_geo_2e-2_topo_1e-1_accum_3_seed424678/softzoo/design/mesh_sampling_0_iter_72_batch_0.ply filter=lfs diff=lfs merge=lfs -text
+20260105_035520_drastic_nogumbell_2hard3soft_geo_2e-2_topo_1e-1_accum_3_seed424678/softzoo/design/mesh_sampling_0_iter_80_batch_0.ply filter=lfs diff=lfs merge=lfs -text
+20260105_035520_drastic_nogumbell_2hard3soft_geo_2e-2_topo_1e-1_accum_3_seed424678/softzoo/design/mesh_sampling_0_iter_88_batch_0.ply filter=lfs diff=lfs merge=lfs -text
+20260105_035520_drastic_nogumbell_2hard3soft_geo_2e-2_topo_1e-1_accum_3_seed424678/softzoo/design/mesh_sampling_0_iter_8_batch_0.ply filter=lfs diff=lfs merge=lfs -text
+20260105_035520_drastic_nogumbell_2hard3soft_geo_2e-2_topo_1e-1_accum_3_seed424678/softzoo/design/mesh_sampling_0_iter_96_batch_0.ply filter=lfs diff=lfs merge=lfs -text
+20260105_035520_drastic_nogumbell_2hard3soft_geo_2e-2_topo_1e-1_accum_3_seed424678/viz_gripper_dir/gripper_idx0_design_2.360236766975137e-15_sim_0.04898361615576986.ply filter=lfs diff=lfs merge=lfs -text
+20260105_035520_drastic_nogumbell_2hard3soft_geo_2e-2_topo_1e-1_accum_3_seed424678/viz_gripper_dir/gripper_idx108_design_0.00047519925283268094_sim_0.04886423703482913.ply filter=lfs diff=lfs merge=lfs -text
+20260105_035520_drastic_nogumbell_2hard3soft_geo_2e-2_topo_1e-1_accum_3_seed424678/viz_gripper_dir/gripper_idx120_design_0.0005505105946213007_sim_0.048854752783933114.ply filter=lfs diff=lfs merge=lfs -text
+20260105_035520_drastic_nogumbell_2hard3soft_geo_2e-2_topo_1e-1_accum_3_seed424678/viz_gripper_dir/gripper_idx12_design_7.22119293641299e-05_sim_0.04897958783967668.ply filter=lfs diff=lfs merge=lfs -text
+20260105_035520_drastic_nogumbell_2hard3soft_geo_2e-2_topo_1e-1_accum_3_seed424678/viz_gripper_dir/gripper_idx132_design_0.0006261312519200146_sim_0.04884889755195928.ply filter=lfs diff=lfs merge=lfs -text
+20260105_035520_drastic_nogumbell_2hard3soft_geo_2e-2_topo_1e-1_accum_3_seed424678/viz_gripper_dir/gripper_idx144_design_0.0006770891486667097_sim_0.04884391828296719.ply filter=lfs diff=lfs merge=lfs -text
+20260105_035520_drastic_nogumbell_2hard3soft_geo_2e-2_topo_1e-1_accum_3_seed424678/viz_gripper_dir/gripper_idx156_design_0.000668831286020577_sim_0.04880686580663632.ply filter=lfs diff=lfs merge=lfs -text
+20260105_035520_drastic_nogumbell_2hard3soft_geo_2e-2_topo_1e-1_accum_3_seed424678/viz_gripper_dir/gripper_idx168_design_0.0006053213146515191_sim_0.048773286385620784.ply filter=lfs diff=lfs merge=lfs -text
+20260105_035520_drastic_nogumbell_2hard3soft_geo_2e-2_topo_1e-1_accum_3_seed424678/viz_gripper_dir/gripper_idx180_design_0.0005784213426522911_sim_0.04876050417957263.ply filter=lfs diff=lfs merge=lfs -text
+20260105_035520_drastic_nogumbell_2hard3soft_geo_2e-2_topo_1e-1_accum_3_seed424678/viz_gripper_dir/gripper_idx192_design_0.0005737612955272198_sim_0.04870400631492401.ply filter=lfs diff=lfs merge=lfs -text
+20260105_035520_drastic_nogumbell_2hard3soft_geo_2e-2_topo_1e-1_accum_3_seed424678/viz_gripper_dir/gripper_idx24_design_0.00014495212235487998_sim_0.04895735992045745.ply filter=lfs diff=lfs merge=lfs -text
+20260105_035520_drastic_nogumbell_2hard3soft_geo_2e-2_topo_1e-1_accum_3_seed424678/viz_gripper_dir/gripper_idx36_design_0.00022656474902760237_sim_0.04894082757719273.ply filter=lfs diff=lfs merge=lfs -text
+20260105_035520_drastic_nogumbell_2hard3soft_geo_2e-2_topo_1e-1_accum_3_seed424678/viz_gripper_dir/gripper_idx48_design_0.0002759621129371226_sim_0.04892781428188464.ply filter=lfs diff=lfs merge=lfs -text
+20260105_035520_drastic_nogumbell_2hard3soft_geo_2e-2_topo_1e-1_accum_3_seed424678/viz_gripper_dir/gripper_idx60_design_0.0002922708517871797_sim_0.04892344014370834.ply filter=lfs diff=lfs merge=lfs -text
+20260105_035520_drastic_nogumbell_2hard3soft_geo_2e-2_topo_1e-1_accum_3_seed424678/viz_gripper_dir/gripper_idx72_design_0.00031648032017983496_sim_0.0489251212388547.ply filter=lfs diff=lfs merge=lfs -text
+20260105_035520_drastic_nogumbell_2hard3soft_geo_2e-2_topo_1e-1_accum_3_seed424678/viz_gripper_dir/gripper_idx84_design_0.000364249775884673_sim_0.048897297059776156.ply filter=lfs diff=lfs merge=lfs -text
+20260105_035520_drastic_nogumbell_2hard3soft_geo_2e-2_topo_1e-1_accum_3_seed424678/viz_gripper_dir/gripper_idx96_design_0.0004193442000541836_sim_0.048867572950018034.ply filter=lfs diff=lfs merge=lfs -text

20260105_035110_reweighted_newselfloss_branch_check_geo_2e-2_topo_4e-2_accum_3_seed999/cmd_config.yaml

@@ -0,0 +1,22 @@
+accum_grad_sim: 3
+designer_scale: 1.0
+designer_type: branching
+device: cuda:0
+env_config: gripping_a_5_HTP_a_0.5_-0.5_-0.5_0.5_a_0.5.yaml
+exp_name: reweighted_newselfloss_branch_check_geo_2e-2_topo_4e-2_accum_3
+fixed_v_file: gripping_5_HTP.json
+geometry_lr: 0.02
+grad_clipping: 100.0
+gripper_dim: 12
+gumbel: true
+init_emb_path: asset/embeddings/stump_disable_suction_branching_test.npz
+max_epoch: 1000
+num_fingers: 1
+num_segments: 10
+object_set_file: sphere_only.json
+optim_config_path: config/optimization_config/branching_check.yaml
+seed: 999
+topo_lr: 0.04
+zero_grad_dims:
+- 10
+- 11

20260105_035110_reweighted_newselfloss_branch_check_geo_2e-2_topo_4e-2_accum_3_seed999/config.yaml

@@ -0,0 +1,62 @@
+exp_name: debug_server
+seed: &seed 22
+out_dir: ./logs/
+tensorboard_log_dir: runs/
+save_every_iter: &log_freq 12
+total_steps: 512 # Check diffusion_cfg to see how many steps there are in diffusion (normal diffusion + upsampler)
+substep_count: 1 # remember to update in diffusion config in pointe, under the k keys
+
+cond_config:
+  - name: "SoftZoo_Sim"
+    grad_scale: !!float 1e6
+    grad_clamp: !!float 1e0
+    calc_gradient: True
+    logging_bool: True
+  # - name: "Dist_To_Origin"
+  #   grad_scale: !!float 1e0
+  #   grad_clamp: !!float 1e-2
+  #   calc_gradient: True
+  #   logging_bool: True
+cond_overall_logging: True
+
+softzoo_config:
+  custom_gravity: False
+  # eval: True
+  out_dir: null # Placeholder, need to be set in run.py
+  fixed_v: gripping_5_HTP.json
+  objects_set_file: sphere_only.json
+  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
+  save_every_iter: *log_freq
+  render_every_iter: 8
+  n_iters: 301
+  n_frames: 100
+
+  controller_type: all_on
+  active: True
+  action_v_strength: 0.35
+
+  loss_types: [ObjectBalancedLoss,ContactLoss,ThrowingObjectLoss]
+  loss_coefs: [0.5,2.0,1.5]
+  obj_x_mul: [0.,1.,0.]
+  obj_particle_id: 2
+
+  design_loss_types:  [SelfFingerPenLoss]
+  design_loss_coeffs: [0.1]
+
+  seed: *seed  # Placeholder, do not use
+  torch_seed: *seed  # Placeholder, do not use
+  static_as_fixed: True
+  device_memory_fraction: 0.775
+
+  optimize_designer: True
+  optimize_design_types: ['geometry','softness_E','softness_v','suction_val']
+  designer_lr: 0.1
+  optimize_controller: True
+  gen_pointe_bounding_box:
+    max: [1.5,0.1,1.5]
+    # mean: [0.,0.,0.]
+    min: [-1.5,-3.5,-1.5]
+
+  design_device: cpu
+  obj_initial_pos: [0,0,0]
+  num_fingers: 2

20260105_035110_reweighted_newselfloss_branch_check_geo_2e-2_topo_4e-2_accum_3_seed999/embeddings/gripper_idx0_design_0.0_sim_0.049409895935745074.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1834faf3116066f5b0b47d88e24bf73d97b8c19fa05922ba4dfe29aa362075c2
+size 560

20260105_035110_reweighted_newselfloss_branch_check_geo_2e-2_topo_4e-2_accum_3_seed999/embeddings/gripper_idx108_design_0.0_sim_0.04943403489432296.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:49fc423a4bda7b80fa22d3900282a3f17272a678424e00c362279cde60219060
+size 1199

20260105_035110_reweighted_newselfloss_branch_check_geo_2e-2_topo_4e-2_accum_3_seed999/embeddings/gripper_idx120_design_0.0_sim_0.04945130223902645.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8cd984eed99be801fffa5f5ffa6ab50fcca8901f5487c7ca56bc5d3b20ac8a59
+size 1197

20260105_035110_reweighted_newselfloss_branch_check_geo_2e-2_topo_4e-2_accum_3_seed999/embeddings/gripper_idx12_design_0.0_sim_0.04941470300358958.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5a46d618d2511a0831ac9e842c0486ee5104e24a5d4774747819ad2f5d9633ea
+size 1188

20260105_035110_reweighted_newselfloss_branch_check_geo_2e-2_topo_4e-2_accum_3_seed999/embeddings/gripper_idx132_design_0.0_sim_0.049446157786152564.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2d063076d23735b8e16d6c4719291ebb894e5bb03949e0b5388259d1b1bc68b7
+size 1190

20260105_035110_reweighted_newselfloss_branch_check_geo_2e-2_topo_4e-2_accum_3_seed999/embeddings/gripper_idx144_design_0.0_sim_0.049450647669482845.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d57152ebd4802ed0aeca213134be9d584503e51823cacd92a5dd7f9040c29084
+size 1195

20260105_035110_reweighted_newselfloss_branch_check_geo_2e-2_topo_4e-2_accum_3_seed999/embeddings/gripper_idx156_design_0.0_sim_0.04946985535432879.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:315e13b91018161ab55861c2a0c62be94c68e00913aad6e31c07112b2863807b
+size 1194

20260105_035110_reweighted_newselfloss_branch_check_geo_2e-2_topo_4e-2_accum_3_seed999/embeddings/gripper_idx168_design_0.0_sim_0.04947576584898458.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:10d1cee53df523db6584e2c92371ca9430c4670a313f64fd8b71d473fafdae33
+size 1192

20260105_035110_reweighted_newselfloss_branch_check_geo_2e-2_topo_4e-2_accum_3_seed999/embeddings/gripper_idx180_design_0.0_sim_0.0494622722899878.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e2da1bab62ae381a5f7d44d964e73823be7ba6e9bbc9e9dc2f0fe5599207aba4
+size 1191

20260105_035110_reweighted_newselfloss_branch_check_geo_2e-2_topo_4e-2_accum_3_seed999/embeddings/gripper_idx192_design_0.0_sim_0.04944905899255114.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e09e781257040362d118bef667dd24e31a8ce80909cb2579956cb6e46cf33b6
+size 1196

20260105_035110_reweighted_newselfloss_branch_check_geo_2e-2_topo_4e-2_accum_3_seed999/embeddings/gripper_idx204_design_0.0_sim_0.0494458874135991.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:374299a7ec567bd7fcff356ab7d1cc32b86e09d8761c1d6b11e496a788699d17
+size 1192

20260105_035110_reweighted_newselfloss_branch_check_geo_2e-2_topo_4e-2_accum_3_seed999/embeddings/gripper_idx216_design_0.0_sim_0.04944362915619062.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f07b1d2190a87e423e1eff3fcab3617f4dbc1db69e510102126a2d70f272140b
+size 1193

20260105_035110_reweighted_newselfloss_branch_check_geo_2e-2_topo_4e-2_accum_3_seed999/embeddings/gripper_idx228_design_0.0_sim_0.049451077461258125.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a60a8ae85b68d9e83932388b9483d1af7e9c0a94f9801faa079329be2777247b
+size 1195

20260105_035110_reweighted_newselfloss_branch_check_geo_2e-2_topo_4e-2_accum_3_seed999/embeddings/gripper_idx240_design_0.0_sim_0.04945283377396986.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dec1072199e8003e57b861f6081f764c8eec488f4c25e8d1be2f4c6f9d02f719
+size 1197

20260105_035110_reweighted_newselfloss_branch_check_geo_2e-2_topo_4e-2_accum_3_seed999/embeddings/gripper_idx24_design_0.0_sim_0.04940913735817728.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:edc359c8bcdc27f7deef7288b1c3a244c7e36960c02645c3370a723bc03f3218
+size 1195

20260105_035110_reweighted_newselfloss_branch_check_geo_2e-2_topo_4e-2_accum_3_seed999/embeddings/gripper_idx36_design_0.0_sim_0.04941453055424947.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eadbe2cf73c7888a6ae57facabbf28752ae9d67bafc5f8363aa1f024a5f45611
+size 1191

20260105_035110_reweighted_newselfloss_branch_check_geo_2e-2_topo_4e-2_accum_3_seed999/embeddings/gripper_idx48_design_0.0_sim_0.049414110837453604.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:03deebd1979560133ff66e2b67b4d3a7df49cab18ef48f336476fba6b5541b04
+size 1197

20260105_035110_reweighted_newselfloss_branch_check_geo_2e-2_topo_4e-2_accum_3_seed999/embeddings/gripper_idx60_design_0.0_sim_0.04941282584710907.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d9de6e9a9f0f9feaef59c8a99804801a53f4c450c6b3369298e05a933ba2c138
+size 1195

20260105_035110_reweighted_newselfloss_branch_check_geo_2e-2_topo_4e-2_accum_3_seed999/embeddings/gripper_idx72_design_0.0_sim_0.049420337571628864.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fb9c0577bbd53b030ee0cacc4f0c7765bddf2ae144ef47ad3fecfb2c730379ed
+size 1195

20260105_035110_reweighted_newselfloss_branch_check_geo_2e-2_topo_4e-2_accum_3_seed999/embeddings/gripper_idx84_design_0.0_sim_0.04940979485437286.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:201fec190751110fc5a7ea57eb8935ae98e3107f2d9472803dddf38bb8d96c02
+size 1194

20260105_035110_reweighted_newselfloss_branch_check_geo_2e-2_topo_4e-2_accum_3_seed999/embeddings/gripper_idx96_design_0.0_sim_0.049431459521747614.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:386fef6e8c27eb159806762b41b2a44103e6fe93716f5899c3f561ad1b7f74d0
+size 1192

20260105_035110_reweighted_newselfloss_branch_check_geo_2e-2_topo_4e-2_accum_3_seed999/softzoo/Ep_Batch_-1_Sampling_0000_Local_0000.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d2e3dfea94045eccb7a51cdb050a4c349a5939486df0558afbfba0fee08efa80
+size 418574

20260105_035110_reweighted_newselfloss_branch_check_geo_2e-2_topo_4e-2_accum_3_seed999/softzoo/Ep_Batch_-1_Sampling_0012_Local_0000.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c5169e027c1f2b93665c42a0949e94a9ea766977a95997e7c8d127d7887f9075
+size 420995

20260105_035110_reweighted_newselfloss_branch_check_geo_2e-2_topo_4e-2_accum_3_seed999/softzoo/Ep_Batch_-1_Sampling_0024_Local_0000.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d01265283a351b99b7fb17821fc1cc264e00b8d0213b7672ba4d21784cd2fd91
+size 419067

20260105_035110_reweighted_newselfloss_branch_check_geo_2e-2_topo_4e-2_accum_3_seed999/softzoo/Ep_Batch_-1_Sampling_0036_Local_0000.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3ea08121666d7654df3feb03f3b5b604f25fca77cb616192b4b9738ffa14c4a4
+size 419685

20260105_035110_reweighted_newselfloss_branch_check_geo_2e-2_topo_4e-2_accum_3_seed999/softzoo/Ep_Batch_-1_Sampling_0048_Local_0000.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6623803a0dff5641806bf4a3b3bf236d3719bf6ed0f8824833e79fabe9e85a7c
+size 437401

20260105_035110_reweighted_newselfloss_branch_check_geo_2e-2_topo_4e-2_accum_3_seed999/softzoo/Ep_Batch_-1_Sampling_0060_Local_0000.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:597c421b85674e71cc17db0629555d9b23ecb0224263cf44450aeb01af9fbf1d
+size 436869

20260105_035110_reweighted_newselfloss_branch_check_geo_2e-2_topo_4e-2_accum_3_seed999/softzoo/Ep_Batch_-1_Sampling_0072_Local_0000.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:002df6f039d29954b0677cdce0b4e68a2f3c8d19752da5cdd12e65fb2f95d7d5
+size 437713

20260105_035110_reweighted_newselfloss_branch_check_geo_2e-2_topo_4e-2_accum_3_seed999/softzoo/Ep_Batch_-1_Sampling_0084_Local_0000.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:88a3ef2062da7a90e311d865f6c1157edc75434df8fff1c82954c8e6bb66d2a8
+size 420584

20260105_035110_reweighted_newselfloss_branch_check_geo_2e-2_topo_4e-2_accum_3_seed999/softzoo/Ep_Batch_-1_Sampling_0096_Local_0000.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8315eb5f37f8c3ffbda5f391631179f2bdfae021f2a8aee6f1f4967d77625d81
+size 419161

20260105_035110_reweighted_newselfloss_branch_check_geo_2e-2_topo_4e-2_accum_3_seed999/softzoo/Ep_Batch_-1_Sampling_0108_Local_0000.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:90baa2346176041b8fdac95a61a3c3ae54f51b6f2c470c1786232aa7ee15bdc8
+size 419082

20260105_035110_reweighted_newselfloss_branch_check_geo_2e-2_topo_4e-2_accum_3_seed999/softzoo/Ep_Batch_-1_Sampling_0120_Local_0000.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bd0afb6d5f33d0edfbdbfd7e7da4ea6003ead17e196d2f885c356f68f80e92c3
+size 438194

20260105_035110_reweighted_newselfloss_branch_check_geo_2e-2_topo_4e-2_accum_3_seed999/softzoo/Ep_Batch_-1_Sampling_0132_Local_0000.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:24d774bfbd049be4aaf6191a5fdefd29926f25ad9c952403ed91fd4298a09571
+size 420332

20260105_035110_reweighted_newselfloss_branch_check_geo_2e-2_topo_4e-2_accum_3_seed999/softzoo/Ep_Batch_-1_Sampling_0144_Local_0000.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:77b2b0e863dacebe3ea12012df0c23a3370fb07642501d6e315ab997c69138fe
+size 437604

20260105_035110_reweighted_newselfloss_branch_check_geo_2e-2_topo_4e-2_accum_3_seed999/softzoo/Ep_Batch_-1_Sampling_0156_Local_0000.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:944d761ce39c2e26e9144e3bc339f268f3971240bd93b69f71e025b43bc2d016
+size 418948

20260105_035110_reweighted_newselfloss_branch_check_geo_2e-2_topo_4e-2_accum_3_seed999/softzoo/Ep_Batch_-1_Sampling_0168_Local_0000.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:93bfa0f1dac4290b3a6ad2b890b2c44b99de732b10e7da23765948f4ab2b81d4
+size 437436

20260105_035110_reweighted_newselfloss_branch_check_geo_2e-2_topo_4e-2_accum_3_seed999/softzoo/Ep_Batch_-1_Sampling_0180_Local_0000.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:00a804c6129d88e7bda4804e5534f941b616b64139f9dd5a8644b01936bd8f25
+size 437411

20260105_035110_reweighted_newselfloss_branch_check_geo_2e-2_topo_4e-2_accum_3_seed999/softzoo/Ep_Batch_-1_Sampling_0192_Local_0000.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0e67780eb54e49f1424429a9a5a5dc3329e10489f738346790c1ba52aea154d1
+size 437637

20260105_035110_reweighted_newselfloss_branch_check_geo_2e-2_topo_4e-2_accum_3_seed999/softzoo/Ep_Batch_-1_Sampling_0204_Local_0000.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8237daa3b58f8b97fffe83608bc0146f4cbbb1eee099beba10389c3933ee2c4c
+size 419987

20260105_035110_reweighted_newselfloss_branch_check_geo_2e-2_topo_4e-2_accum_3_seed999/softzoo/Ep_Batch_-1_Sampling_0216_Local_0000.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eb2d7c09455b7c106dd668bf026714c585eede19d8560b48eefb44242ace9f1a
+size 421110

20260105_035110_reweighted_newselfloss_branch_check_geo_2e-2_topo_4e-2_accum_3_seed999/softzoo/Ep_Batch_-1_Sampling_0228_Local_0000.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:00e753ac69541042c123fb61abb26a3bef4b4a402e438ee4407093fa631d2425
+size 418849

20260105_035110_reweighted_newselfloss_branch_check_geo_2e-2_topo_4e-2_accum_3_seed999/softzoo/Ep_Batch_-1_Sampling_0240_Local_0000.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:263459871fbf595c903b18bff65c5e942932126602d37655bd1d1bbd38131518
+size 419074

20260105_035110_reweighted_newselfloss_branch_check_geo_2e-2_topo_4e-2_accum_3_seed999/softzoo/ckpt/args.json

@@ -0,0 +1,224 @@
+{
+    "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": [
+        0.1
+    ],
+    "design_loss_types": [
+        "SelfFingerPenLoss"
+    ],
+    "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": [
+        0.5,
+        2.0,
+        1.5
+    ],
+    "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",
+        "ThrowingObjectLoss"
+    ],
+    "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": "sphere_only.json",
+    "optimize_controller": true,
+    "optimize_design_types": [
+        "geometry",
+        "softness_E",
+        "softness_v",
+        "suction_val"
+    ],
+    "optimize_designer": true,
+    "out_dir": "./logs/20260105_035110_reweighted_newselfloss_branch_check_geo_2e-2_topo_4e-2_accum_3_seed999/softzoo",
+    "recenter_mesh_target": false,
+    "render_every_iter": 8,
+    "rotation_up_direction": [
+        0.0,
+        1.0,
+        0.0
+    ],
+    "save_controller": false,
+    "save_designer": false,
+    "save_every_iter": 12,
+    "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
+    ]
+}

20260105_035110_reweighted_newselfloss_branch_check_geo_2e-2_topo_4e-2_accum_3_seed999/softzoo/ckpt/env_config.yaml

@@ -0,0 +1,137 @@
+ENVIRONMENT:
+  use_semantic_occupancy: False
+  CUSTOM:
+    has_matter_on_ground: false
+    matter_id: 4
+    matter_materials: []
+    matter_padding:
+    - 32
+    - 3
+    - 32
+    matter_sample_density: 8
+    matter_semantic_id: 4
+    matter_thickness: 0.02
+    matter_youngs_modulus: 100000.0
+    randomize_terrain: false
+  ITEMS:
+  - semantic_id: 0
+    type: Static.BoundingBox
+  - dampen_coeff: 1.0
+    friction: 0.5
+    max_height: 0.1
+    min_height: 0.1
+    semantic_id: 0
+    surface: Surface.Slip
+    type: Static.Terrain
+  - file_path: /LOCAL3/anguyen/nghiale/Data/mujoco_scanned_objects/models/5_HTP/model.obj
+    ground_height: 0.101
+    initial_position:
+    - 0.55
+    - 0.0
+    - 0.4
+    initial_rotation:
+    - 0.5
+    - -0.5
+    - -0.5
+    - 0.5
+    initial_velocity:
+    - 0.0
+    - 0.0
+    - 0.0
+    material: FakeRigid
+    particle_id: 2
+    sample_density: 16
+    scale:
+    - 0.5
+    - 0.5
+    - 0.5
+    semantic_id: 2
+    type: Primitive.Mesh
+    particle_info:
+        p_rho_0: !!float 7.e+2 # [6e+2, 5e+3]
+  actuation_strength: 0.3
+  design_space: pbr
+  design_space_config:
+    base_shape:
+      initial_position:
+      - 0.55
+      - 0.225
+      - 0.4
+      initial_velocity:
+      - 0.0
+      - 0.0
+      - 0.0
+      material: DiffAquaMuscle
+      particle_id: 3
+      particle_info:
+        E_0: 7.5e+4
+        nu_0: 0.3
+        p_rho_0: 1000.0
+      sample_density: 42
+      semantic_id: 3
+      size:
+      - 0.1
+      - 0.1
+      - 0.1
+      type: Primitive.Box
+    initial_principle_direction:
+    - 1.0
+    - 0.0
+    - 0.0
+    n_actuators: 101
+    p_rho_lower_bound_mul: 0.1
+  objective: throw_object
+  objective_config:
+    forward_direction:
+    - 0.0
+    - 1.0
+    - 0.0
+    max_episode_steps: 100
+    obj_particles_id: 2
+    reward_mode: final
+  observation_space:
+  - time
+  - com
+  use_renderer: false
+RENDERER:
+  GGUI:
+    ambient_light:
+    - 0.5
+    - 0.5
+    - 0.5
+    camera_lookat:
+    - 0.5
+    - 0.1
+    - 0.5
+    camera_position:
+    - 0.5
+    - 0.25
+    - 0.05
+    ground_surface_cmap: textures/ground.png
+    particle_coloring_mode: actuation
+    particle_radius: 0.002
+    res:
+    - 1920
+    - 1080
+  type: ggui
+SIMULATOR:
+  base_active_materials: []
+  checkpoint_cache_device: torch_cpu
+  default_dt: 1.e-4
+  dim: 3
+  gravity:
+  - 0.0
+  - -3.8
+  - 0.0
+  max_actuation: 101
+  max_num_particles: 55000
+  max_substeps: 10000
+  max_substeps_local: 25
+  needs_grad: true
+  padding:
+  - 28
+  - 3
+  - 28
+  quality: 0.82
+  use_checkpointing: true
+  use_dynamic_field: false