diff --git a/.gitattributes b/.gitattributes index f39f6c66b560017e93b708ca63244abc4a6c668d..6a51ece5ee8d79ae8f6fe1e9315d704eaeb73b02 100644 --- a/.gitattributes +++ b/.gitattributes @@ -303,3 +303,192 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text 20260113_064347_noprompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/viz_gripper_dir/gripper_idx72_design_0.001638458576053381_sim_0.0006577077954308521.ply filter=lfs diff=lfs merge=lfs -text 20260113_064347_noprompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/viz_gripper_dir/gripper_idx84_design_0.001552133820950985_sim_0.0006561988422113024.ply filter=lfs diff=lfs merge=lfs -text 20260113_064347_noprompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/viz_gripper_dir/gripper_idx96_design_0.0015189750120043755_sim_0.0006586248925666375.ply filter=lfs diff=lfs merge=lfs -text +20260113_064315_prompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/softzoo/Ep_Batch_-1_Sampling_0120_Local_0000.mp4 filter=lfs diff=lfs merge=lfs -text +20260113_064315_prompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/softzoo/Ep_Batch_-1_Sampling_0120_Local_0001.mp4 filter=lfs diff=lfs merge=lfs -text +20260113_064315_prompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/softzoo/Ep_Batch_-1_Sampling_0120_Local_0002.mp4 filter=lfs diff=lfs merge=lfs -text +20260113_064315_prompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/softzoo/design/mesh_sampling_0_iter_120_batch_0.ply filter=lfs diff=lfs merge=lfs -text +20260113_064315_prompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/softzoo/design/mesh_sampling_0_iter_128_batch_0.ply filter=lfs diff=lfs merge=lfs -text +20260113_064315_prompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/viz_gripper_dir/gripper_idx120_design_0.0012382196728140116_sim_0.0006458314226079455.ply filter=lfs diff=lfs merge=lfs -text +20260113_064347_noprompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/softzoo/Ep_Batch_-1_Sampling_0120_Local_0000.mp4 filter=lfs diff=lfs merge=lfs -text +20260113_064347_noprompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/softzoo/Ep_Batch_-1_Sampling_0120_Local_0001.mp4 filter=lfs diff=lfs merge=lfs -text +20260113_064347_noprompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/softzoo/Ep_Batch_-1_Sampling_0120_Local_0002.mp4 filter=lfs diff=lfs merge=lfs -text +20260113_064347_noprompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/softzoo/Ep_Batch_-1_Sampling_0132_Local_0000.mp4 filter=lfs diff=lfs merge=lfs -text +20260113_064347_noprompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/softzoo/Ep_Batch_-1_Sampling_0132_Local_0001.mp4 filter=lfs diff=lfs merge=lfs -text +20260113_064347_noprompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/softzoo/Ep_Batch_-1_Sampling_0132_Local_0002.mp4 filter=lfs diff=lfs merge=lfs -text +20260113_064347_noprompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/softzoo/Ep_Batch_-1_Sampling_0144_Local_0000.mp4 filter=lfs diff=lfs merge=lfs -text +20260113_064347_noprompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/softzoo/Ep_Batch_-1_Sampling_0144_Local_0001.mp4 filter=lfs diff=lfs merge=lfs -text +20260113_064347_noprompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/softzoo/Ep_Batch_-1_Sampling_0144_Local_0002.mp4 filter=lfs diff=lfs merge=lfs -text +20260113_064347_noprompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/softzoo/Ep_Batch_-1_Sampling_0156_Local_0000.mp4 filter=lfs diff=lfs merge=lfs -text +20260113_064347_noprompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/softzoo/Ep_Batch_-1_Sampling_0156_Local_0001.mp4 filter=lfs diff=lfs merge=lfs -text +20260113_064347_noprompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/softzoo/Ep_Batch_-1_Sampling_0156_Local_0002.mp4 filter=lfs diff=lfs merge=lfs -text +20260113_064347_noprompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/softzoo/Ep_Batch_-1_Sampling_0168_Local_0000.mp4 filter=lfs diff=lfs merge=lfs -text +20260113_064347_noprompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/softzoo/Ep_Batch_-1_Sampling_0168_Local_0001.mp4 filter=lfs diff=lfs merge=lfs -text +20260113_064347_noprompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/softzoo/Ep_Batch_-1_Sampling_0168_Local_0002.mp4 filter=lfs diff=lfs merge=lfs -text +20260113_064347_noprompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/softzoo/design/mesh_sampling_0_iter_120_batch_0.ply filter=lfs diff=lfs merge=lfs -text +20260113_064347_noprompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/softzoo/design/mesh_sampling_0_iter_128_batch_0.ply filter=lfs diff=lfs merge=lfs -text +20260113_064347_noprompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/softzoo/design/mesh_sampling_0_iter_136_batch_0.ply filter=lfs diff=lfs merge=lfs -text +20260113_064347_noprompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/softzoo/design/mesh_sampling_0_iter_144_batch_0.ply filter=lfs diff=lfs merge=lfs -text +20260113_064347_noprompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/softzoo/design/mesh_sampling_0_iter_152_batch_0.ply filter=lfs diff=lfs merge=lfs -text +20260113_064347_noprompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/softzoo/design/mesh_sampling_0_iter_160_batch_0.ply filter=lfs diff=lfs merge=lfs -text +20260113_064347_noprompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/softzoo/design/mesh_sampling_0_iter_168_batch_0.ply filter=lfs diff=lfs merge=lfs -text +20260113_064347_noprompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/viz_gripper_dir/gripper_idx120_design_0.0014918434899300337_sim_0.00065650410470026.ply filter=lfs diff=lfs merge=lfs -text +20260113_064347_noprompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/viz_gripper_dir/gripper_idx132_design_0.001439349609427154_sim_0.000656870810193178.ply filter=lfs diff=lfs merge=lfs -text +20260113_064347_noprompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/viz_gripper_dir/gripper_idx144_design_0.0014220357406884432_sim_0.0006589269591549456.ply filter=lfs diff=lfs merge=lfs -text +20260113_064347_noprompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/viz_gripper_dir/gripper_idx156_design_0.001352617866359651_sim_0.0006580810748922757.ply filter=lfs diff=lfs merge=lfs -text +20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0000_Local_0000.mp4 filter=lfs diff=lfs merge=lfs -text +20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0000_Local_0001.mp4 filter=lfs diff=lfs merge=lfs -text +20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0000_Local_0002.mp4 filter=lfs diff=lfs merge=lfs -text +20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0012_Local_0000.mp4 filter=lfs diff=lfs merge=lfs -text +20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0012_Local_0001.mp4 filter=lfs diff=lfs merge=lfs -text +20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0012_Local_0002.mp4 filter=lfs diff=lfs merge=lfs -text +20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0024_Local_0000.mp4 filter=lfs diff=lfs merge=lfs -text +20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0024_Local_0001.mp4 filter=lfs diff=lfs merge=lfs -text +20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0024_Local_0002.mp4 filter=lfs diff=lfs merge=lfs -text +20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0036_Local_0000.mp4 filter=lfs diff=lfs merge=lfs -text +20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0036_Local_0001.mp4 filter=lfs diff=lfs merge=lfs -text +20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0036_Local_0002.mp4 filter=lfs diff=lfs merge=lfs -text +20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0048_Local_0000.mp4 filter=lfs diff=lfs merge=lfs -text +20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0048_Local_0001.mp4 filter=lfs diff=lfs merge=lfs -text +20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0048_Local_0002.mp4 filter=lfs diff=lfs merge=lfs -text +20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0060_Local_0000.mp4 filter=lfs diff=lfs merge=lfs -text +20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0060_Local_0001.mp4 filter=lfs diff=lfs merge=lfs -text +20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0060_Local_0002.mp4 filter=lfs diff=lfs merge=lfs -text +20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0072_Local_0000.mp4 filter=lfs diff=lfs merge=lfs -text +20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0072_Local_0001.mp4 filter=lfs diff=lfs merge=lfs -text +20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0072_Local_0002.mp4 filter=lfs diff=lfs merge=lfs -text +20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0084_Local_0000.mp4 filter=lfs diff=lfs merge=lfs -text +20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0084_Local_0001.mp4 filter=lfs diff=lfs merge=lfs -text +20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0084_Local_0002.mp4 filter=lfs diff=lfs merge=lfs -text +20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0096_Local_0000.mp4 filter=lfs diff=lfs merge=lfs -text +20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0096_Local_0001.mp4 filter=lfs diff=lfs merge=lfs -text +20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0096_Local_0002.mp4 filter=lfs diff=lfs merge=lfs -text +20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0108_Local_0000.mp4 filter=lfs diff=lfs merge=lfs -text +20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0108_Local_0001.mp4 filter=lfs diff=lfs merge=lfs -text +20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0108_Local_0002.mp4 filter=lfs diff=lfs merge=lfs -text +20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0120_Local_0000.mp4 filter=lfs diff=lfs merge=lfs -text +20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0120_Local_0001.mp4 filter=lfs diff=lfs merge=lfs -text +20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0120_Local_0002.mp4 filter=lfs diff=lfs merge=lfs -text +20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0132_Local_0000.mp4 filter=lfs diff=lfs merge=lfs -text +20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0132_Local_0001.mp4 filter=lfs diff=lfs merge=lfs -text +20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0132_Local_0002.mp4 filter=lfs diff=lfs merge=lfs -text +20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0144_Local_0000.mp4 filter=lfs diff=lfs merge=lfs -text +20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0144_Local_0001.mp4 filter=lfs diff=lfs merge=lfs -text +20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0144_Local_0002.mp4 filter=lfs diff=lfs merge=lfs -text +20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0156_Local_0000.mp4 filter=lfs diff=lfs merge=lfs -text +20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0156_Local_0001.mp4 filter=lfs diff=lfs merge=lfs -text +20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0156_Local_0002.mp4 filter=lfs diff=lfs merge=lfs -text +20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0168_Local_0000.mp4 filter=lfs diff=lfs merge=lfs -text +20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0168_Local_0001.mp4 filter=lfs diff=lfs merge=lfs -text +20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0168_Local_0002.mp4 filter=lfs diff=lfs merge=lfs -text +20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0180_Local_0000.mp4 filter=lfs diff=lfs merge=lfs -text +20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0180_Local_0001.mp4 filter=lfs diff=lfs merge=lfs -text +20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0180_Local_0002.mp4 filter=lfs diff=lfs merge=lfs -text +20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_104_batch_0.ply filter=lfs diff=lfs merge=lfs -text +20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_112_batch_0.ply filter=lfs diff=lfs merge=lfs -text +20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_120_batch_0.ply filter=lfs diff=lfs merge=lfs -text +20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_128_batch_0.ply filter=lfs diff=lfs merge=lfs -text +20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_136_batch_0.ply filter=lfs diff=lfs merge=lfs -text +20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_144_batch_0.ply filter=lfs diff=lfs merge=lfs -text +20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_152_batch_0.ply filter=lfs diff=lfs merge=lfs -text +20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_160_batch_0.ply filter=lfs diff=lfs merge=lfs -text +20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_168_batch_0.ply filter=lfs diff=lfs merge=lfs -text +20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_16_batch_0.ply filter=lfs diff=lfs merge=lfs -text +20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_176_batch_0.ply filter=lfs diff=lfs merge=lfs -text +20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_184_batch_0.ply filter=lfs diff=lfs merge=lfs -text +20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_24_batch_0.ply filter=lfs diff=lfs merge=lfs -text +20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_32_batch_0.ply filter=lfs diff=lfs merge=lfs -text +20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_40_batch_0.ply filter=lfs diff=lfs merge=lfs -text +20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_48_batch_0.ply filter=lfs diff=lfs merge=lfs -text +20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_56_batch_0.ply filter=lfs diff=lfs merge=lfs -text +20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_64_batch_0.ply filter=lfs diff=lfs merge=lfs -text +20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_72_batch_0.ply filter=lfs diff=lfs merge=lfs -text +20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_80_batch_0.ply filter=lfs diff=lfs merge=lfs -text +20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_88_batch_0.ply filter=lfs diff=lfs merge=lfs -text +20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_96_batch_0.ply filter=lfs diff=lfs merge=lfs -text +20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/viz_gripper_dir/gripper_idx0_design_0.008881494402885437_sim_0.0006588529344507719.ply filter=lfs diff=lfs merge=lfs -text +20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/viz_gripper_dir/gripper_idx108_design_0.0025677985977381468_sim_0.0006492739281940918.ply filter=lfs diff=lfs merge=lfs -text +20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/viz_gripper_dir/gripper_idx120_design_0.001693162601441145_sim_0.0006511623295171359.ply filter=lfs diff=lfs merge=lfs -text +20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/viz_gripper_dir/gripper_idx12_design_0.00875162985175848_sim_0.0006582465779694556.ply filter=lfs diff=lfs merge=lfs -text +20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/viz_gripper_dir/gripper_idx132_design_0.0012613439466804266_sim_0.000657885490175401.ply filter=lfs diff=lfs merge=lfs -text +20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/viz_gripper_dir/gripper_idx144_design_0.0012523953337222338_sim_0.0006596020943954517.ply filter=lfs diff=lfs merge=lfs -text +20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/viz_gripper_dir/gripper_idx156_design_0.0011470739264041185_sim_0.0006596264691106987.ply filter=lfs diff=lfs merge=lfs -text +20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/viz_gripper_dir/gripper_idx168_design_0.0010819857707247138_sim_0.000659586449886953.ply filter=lfs diff=lfs merge=lfs -text +20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/viz_gripper_dir/gripper_idx180_design_0.0010445148218423128_sim_0.000659518862985813.ply filter=lfs diff=lfs merge=lfs -text +20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/viz_gripper_dir/gripper_idx24_design_0.008538839407265186_sim_0.0006577322198497807.ply filter=lfs diff=lfs merge=lfs -text +20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/viz_gripper_dir/gripper_idx36_design_0.007361982017755508_sim_0.0006588382317725755.ply filter=lfs diff=lfs merge=lfs -text +20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/viz_gripper_dir/gripper_idx48_design_0.005962052382528782_sim_0.0006573703182281125.ply filter=lfs diff=lfs merge=lfs -text +20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/viz_gripper_dir/gripper_idx60_design_0.004929875954985619_sim_0.0006563236399630005.ply filter=lfs diff=lfs merge=lfs -text +20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/viz_gripper_dir/gripper_idx72_design_0.003790108719840646_sim_0.0006507755430078241.ply filter=lfs diff=lfs merge=lfs -text +20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/viz_gripper_dir/gripper_idx84_design_0.003142977599054575_sim_0.0006499426822131402.ply filter=lfs diff=lfs merge=lfs -text +20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/viz_gripper_dir/gripper_idx96_design_0.002744237193837762_sim_0.0006267022743476347.ply filter=lfs diff=lfs merge=lfs -text +20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0000_Local_0000.mp4 filter=lfs diff=lfs merge=lfs -text +20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0000_Local_0001.mp4 filter=lfs diff=lfs merge=lfs -text +20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0000_Local_0002.mp4 filter=lfs diff=lfs merge=lfs -text +20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0012_Local_0000.mp4 filter=lfs diff=lfs merge=lfs -text +20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0012_Local_0001.mp4 filter=lfs diff=lfs merge=lfs -text +20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0012_Local_0002.mp4 filter=lfs diff=lfs merge=lfs -text +20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0024_Local_0000.mp4 filter=lfs diff=lfs merge=lfs -text +20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0024_Local_0001.mp4 filter=lfs diff=lfs merge=lfs -text +20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0024_Local_0002.mp4 filter=lfs diff=lfs merge=lfs -text +20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0036_Local_0000.mp4 filter=lfs diff=lfs merge=lfs -text +20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0036_Local_0001.mp4 filter=lfs diff=lfs merge=lfs -text +20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0036_Local_0002.mp4 filter=lfs diff=lfs merge=lfs -text +20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0048_Local_0000.mp4 filter=lfs diff=lfs merge=lfs -text +20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0048_Local_0001.mp4 filter=lfs diff=lfs merge=lfs -text +20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0048_Local_0002.mp4 filter=lfs diff=lfs merge=lfs -text +20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0060_Local_0000.mp4 filter=lfs diff=lfs merge=lfs -text +20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0060_Local_0001.mp4 filter=lfs diff=lfs merge=lfs -text +20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0060_Local_0002.mp4 filter=lfs diff=lfs merge=lfs -text +20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0072_Local_0000.mp4 filter=lfs diff=lfs merge=lfs -text +20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0072_Local_0001.mp4 filter=lfs diff=lfs merge=lfs -text +20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0072_Local_0002.mp4 filter=lfs diff=lfs merge=lfs -text +20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0084_Local_0000.mp4 filter=lfs diff=lfs merge=lfs -text +20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0084_Local_0001.mp4 filter=lfs diff=lfs merge=lfs -text +20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0084_Local_0002.mp4 filter=lfs diff=lfs merge=lfs -text +20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0096_Local_0000.mp4 filter=lfs diff=lfs merge=lfs -text +20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0096_Local_0001.mp4 filter=lfs diff=lfs merge=lfs -text +20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0096_Local_0002.mp4 filter=lfs diff=lfs merge=lfs -text +20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0108_Local_0000.mp4 filter=lfs diff=lfs merge=lfs -text +20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0108_Local_0001.mp4 filter=lfs diff=lfs merge=lfs -text +20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0108_Local_0002.mp4 filter=lfs diff=lfs merge=lfs -text +20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_32_batch_0.ply filter=lfs diff=lfs merge=lfs -text +20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_40_batch_0.ply filter=lfs diff=lfs merge=lfs -text +20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_48_batch_0.ply filter=lfs diff=lfs merge=lfs -text +20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/viz_gripper_dir/gripper_idx0_design_0.008880730718374252_sim_0.0006588529560004172.ply filter=lfs diff=lfs merge=lfs -text +20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/viz_gripper_dir/gripper_idx108_design_0.0015005662571638823_sim_0.0006564186160621895.ply filter=lfs diff=lfs merge=lfs -text +20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/viz_gripper_dir/gripper_idx12_design_0.008762681856751442_sim_0.0006595052530789456.ply filter=lfs diff=lfs merge=lfs -text +20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/viz_gripper_dir/gripper_idx24_design_0.008066898211836815_sim_0.0006587433082652647.ply filter=lfs diff=lfs merge=lfs -text +20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/viz_gripper_dir/gripper_idx36_design_0.006384237669408321_sim_0.0006573268879404688.ply filter=lfs diff=lfs merge=lfs -text +20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/viz_gripper_dir/gripper_idx48_design_0.0050232019275426865_sim_0.0006276383852566573.ply filter=lfs diff=lfs merge=lfs -text +20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/viz_gripper_dir/gripper_idx60_design_0.00339437834918499_sim_0.0006571957438414656.ply filter=lfs diff=lfs merge=lfs -text +20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/viz_gripper_dir/gripper_idx72_design_0.002619439037516713_sim_0.0006559643231077886.ply filter=lfs diff=lfs merge=lfs -text +20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/viz_gripper_dir/gripper_idx84_design_0.002020806772634387_sim_0.0006548946430903703.ply filter=lfs diff=lfs merge=lfs -text +20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/viz_gripper_dir/gripper_idx96_design_0.0018633464351296425_sim_0.0006572044461738149.ply filter=lfs diff=lfs merge=lfs -text +20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0000_Local_0000.mp4 filter=lfs diff=lfs merge=lfs -text +20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0000_Local_0001.mp4 filter=lfs diff=lfs merge=lfs -text +20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0000_Local_0002.mp4 filter=lfs diff=lfs merge=lfs -text +20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0012_Local_0000.mp4 filter=lfs diff=lfs merge=lfs -text +20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0012_Local_0001.mp4 filter=lfs diff=lfs merge=lfs -text +20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0012_Local_0002.mp4 filter=lfs diff=lfs merge=lfs -text +20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0024_Local_0000.mp4 filter=lfs diff=lfs merge=lfs -text +20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0024_Local_0001.mp4 filter=lfs diff=lfs merge=lfs -text +20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0024_Local_0002.mp4 filter=lfs diff=lfs merge=lfs -text +20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0036_Local_0000.mp4 filter=lfs diff=lfs merge=lfs -text +20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0036_Local_0001.mp4 filter=lfs diff=lfs merge=lfs -text +20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0036_Local_0002.mp4 filter=lfs diff=lfs merge=lfs -text +20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0048_Local_0000.mp4 filter=lfs diff=lfs merge=lfs -text +20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0048_Local_0001.mp4 filter=lfs diff=lfs merge=lfs -text +20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0048_Local_0002.mp4 filter=lfs diff=lfs merge=lfs -text +20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0060_Local_0000.mp4 filter=lfs diff=lfs merge=lfs -text +20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0060_Local_0001.mp4 filter=lfs diff=lfs merge=lfs -text +20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0060_Local_0002.mp4 filter=lfs diff=lfs merge=lfs -text +20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0072_Local_0000.mp4 filter=lfs diff=lfs merge=lfs -text +20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0072_Local_0001.mp4 filter=lfs diff=lfs merge=lfs -text +20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0072_Local_0002.mp4 filter=lfs diff=lfs merge=lfs -text +20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/viz_gripper_dir/gripper_idx0_design_0.0024641386698931456_sim_0.0006588525706541763.ply filter=lfs diff=lfs merge=lfs -text +20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/viz_gripper_dir/gripper_idx12_design_0.0023005621042102575_sim_0.0006595957612440552.ply filter=lfs diff=lfs merge=lfs -text +20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/viz_gripper_dir/gripper_idx24_design_0.0022212525364011526_sim_0.0006594971336171153.ply filter=lfs diff=lfs merge=lfs -text +20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/viz_gripper_dir/gripper_idx36_design_0.0021469660568982363_sim_0.0006590272490275549.ply filter=lfs diff=lfs merge=lfs -text +20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/viz_gripper_dir/gripper_idx48_design_0.002063241321593523_sim_0.0006586845949574949.ply filter=lfs diff=lfs merge=lfs -text +20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/viz_gripper_dir/gripper_idx60_design_0.0019784721080213785_sim_0.000658257785550454.ply filter=lfs diff=lfs merge=lfs -text +20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/viz_gripper_dir/gripper_idx72_design_0.0019958142656832933_sim_0.0006581517276153469.ply filter=lfs diff=lfs merge=lfs -text diff --git a/20260113_064315_prompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/embeddings/gripper_idx120_design_0.0012382196728140116_sim_0.0006458314226079455.npz b/20260113_064315_prompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/embeddings/gripper_idx120_design_0.0012382196728140116_sim_0.0006458314226079455.npz new file mode 100644 index 0000000000000000000000000000000000000000..136b2b983adab57e0ca002f43233cfc08962dddc --- /dev/null +++ b/20260113_064315_prompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/embeddings/gripper_idx120_design_0.0012382196728140116_sim_0.0006458314226079455.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6e88cd393476ff7a39a0dd497d7eea169e554f10e5090da3f656310acd1ec222 +size 2882 diff --git a/20260113_064315_prompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/softzoo/Ep_Batch_-1_Sampling_0120_Local_0000.mp4 b/20260113_064315_prompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/softzoo/Ep_Batch_-1_Sampling_0120_Local_0000.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..e34fa699204b8aa1bf6c476e216e35cb53e5aaa5 --- /dev/null +++ b/20260113_064315_prompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/softzoo/Ep_Batch_-1_Sampling_0120_Local_0000.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bb0a16290176f80de5a920dc7d2acb981ebd853df3a37435cf0d3e356c434c45 +size 435380 diff --git a/20260113_064315_prompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/softzoo/Ep_Batch_-1_Sampling_0120_Local_0001.mp4 b/20260113_064315_prompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/softzoo/Ep_Batch_-1_Sampling_0120_Local_0001.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..20f1ac7b55ba7de75c688f91efc9adf970aec1d7 --- /dev/null +++ b/20260113_064315_prompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/softzoo/Ep_Batch_-1_Sampling_0120_Local_0001.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fbc6f93c7c6d163495d4cc1d83361e1499b322edb97568e778fb93f39cdb7a44 +size 515627 diff --git a/20260113_064315_prompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/softzoo/Ep_Batch_-1_Sampling_0120_Local_0002.mp4 b/20260113_064315_prompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/softzoo/Ep_Batch_-1_Sampling_0120_Local_0002.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..bc27f5ee7e2829fd06607252532516ce2eb1e210 --- /dev/null +++ b/20260113_064315_prompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/softzoo/Ep_Batch_-1_Sampling_0120_Local_0002.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9130f7b1b52d843d11766808884eeaf0221d26c39075e326682b74cd5f239bdb +size 464662 diff --git a/20260113_064315_prompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/softzoo/design/geometry_sampling_0_iter_120_batch_0.ply b/20260113_064315_prompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/softzoo/design/geometry_sampling_0_iter_120_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..ab5f032f7320e07e6c7b87af8fc3eb9d7188c8fe Binary files /dev/null and b/20260113_064315_prompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/softzoo/design/geometry_sampling_0_iter_120_batch_0.ply differ diff --git a/20260113_064315_prompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/softzoo/design/geometry_sampling_0_iter_128_batch_0.ply b/20260113_064315_prompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/softzoo/design/geometry_sampling_0_iter_128_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..929d145464ea10689f9979ea0a0a4a2c6f0d0ac8 Binary files /dev/null and b/20260113_064315_prompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/softzoo/design/geometry_sampling_0_iter_128_batch_0.ply differ diff --git a/20260113_064315_prompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/softzoo/design/gripper_batch_-1.npz b/20260113_064315_prompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/softzoo/design/gripper_batch_-1.npz index c9d18bba716cabcf40dbb35dd5040e0d19bf1ba3..136b2b983adab57e0ca002f43233cfc08962dddc 100644 --- a/20260113_064315_prompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/softzoo/design/gripper_batch_-1.npz +++ b/20260113_064315_prompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/softzoo/design/gripper_batch_-1.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:87f0469a5d8b53aaf2b53959ca8173f36b2666b806219ff6925efebf32ae1612 -size 2886 +oid sha256:6e88cd393476ff7a39a0dd497d7eea169e554f10e5090da3f656310acd1ec222 +size 2882 diff --git a/20260113_064315_prompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/softzoo/design/mesh_sampling_0_iter_120_batch_0.ply b/20260113_064315_prompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/softzoo/design/mesh_sampling_0_iter_120_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..9f47a4deab1231a7fd784928c5c9418a3a885c43 --- /dev/null +++ b/20260113_064315_prompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/softzoo/design/mesh_sampling_0_iter_120_batch_0.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f1476ac8d542f442087a8507242e58883ec07dde4784bf8228efebda07c2b014 +size 125871 diff --git a/20260113_064315_prompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/softzoo/design/mesh_sampling_0_iter_128_batch_0.ply b/20260113_064315_prompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/softzoo/design/mesh_sampling_0_iter_128_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..02a08b321750bb403506e3a74c48a0a4be74716e --- /dev/null +++ b/20260113_064315_prompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/softzoo/design/mesh_sampling_0_iter_128_batch_0.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a455f7b503b49a0f2b6fbef7d63e5aa194cbdd1b00f07379d01d15e5a2979600 +size 124183 diff --git a/20260113_064315_prompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/viz_gripper_dir/gripper_idx120_design_0.0012382196728140116_sim_0.0006458314226079455.ply b/20260113_064315_prompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/viz_gripper_dir/gripper_idx120_design_0.0012382196728140116_sim_0.0006458314226079455.ply new file mode 100644 index 0000000000000000000000000000000000000000..5b5137df0475766e44dc1e5a0b9aef4bd413fed4 --- /dev/null +++ b/20260113_064315_prompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/viz_gripper_dir/gripper_idx120_design_0.0012382196728140116_sim_0.0006458314226079455.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7325c8e53f97c0783525fa34af041becf6392797b5d9c5e21e8e99461b4544e2 +size 753994 diff --git a/20260113_064347_noprompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/embeddings/gripper_idx120_design_0.0014918434899300337_sim_0.00065650410470026.npz b/20260113_064347_noprompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/embeddings/gripper_idx120_design_0.0014918434899300337_sim_0.00065650410470026.npz new file mode 100644 index 0000000000000000000000000000000000000000..a4be4d1344d222804360f9bd579c47b2bb002f48 --- /dev/null +++ b/20260113_064347_noprompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/embeddings/gripper_idx120_design_0.0014918434899300337_sim_0.00065650410470026.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1962aff9aec112fb4e4eadac31e4168f56b7679941fa48ea4c104285e97ec543 +size 2866 diff --git a/20260113_064347_noprompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/embeddings/gripper_idx132_design_0.001439349609427154_sim_0.000656870810193178.npz b/20260113_064347_noprompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/embeddings/gripper_idx132_design_0.001439349609427154_sim_0.000656870810193178.npz new file mode 100644 index 0000000000000000000000000000000000000000..6a927bc0dabe7bf162146dab331150ca00e2cb38 --- /dev/null +++ b/20260113_064347_noprompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/embeddings/gripper_idx132_design_0.001439349609427154_sim_0.000656870810193178.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e65739ae4a342949982f90a0e3b9facbe6cbe14891c9f8df2736c01087cd4188 +size 2864 diff --git a/20260113_064347_noprompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/embeddings/gripper_idx144_design_0.0014220357406884432_sim_0.0006589269591549456.npz b/20260113_064347_noprompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/embeddings/gripper_idx144_design_0.0014220357406884432_sim_0.0006589269591549456.npz new file mode 100644 index 0000000000000000000000000000000000000000..b96c1638467a4bc6811ff4c4e40e94279e6d289e --- /dev/null +++ b/20260113_064347_noprompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/embeddings/gripper_idx144_design_0.0014220357406884432_sim_0.0006589269591549456.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7ef30981386649ba6e8e86467dba8b0bb8e2249c68bf7ec1cb37579f97d8194c +size 2862 diff --git a/20260113_064347_noprompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/embeddings/gripper_idx156_design_0.001352617866359651_sim_0.0006580810748922757.npz b/20260113_064347_noprompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/embeddings/gripper_idx156_design_0.001352617866359651_sim_0.0006580810748922757.npz new file mode 100644 index 0000000000000000000000000000000000000000..ad323923bdd76b77ddbee2284eab22cb4c3f8d79 --- /dev/null +++ b/20260113_064347_noprompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/embeddings/gripper_idx156_design_0.001352617866359651_sim_0.0006580810748922757.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:87669799b1b49aa091b303f383dacecf38136ca388977f75d47bb2ac5b7421b0 +size 2861 diff --git a/20260113_064347_noprompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/softzoo/Ep_Batch_-1_Sampling_0120_Local_0000.mp4 b/20260113_064347_noprompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/softzoo/Ep_Batch_-1_Sampling_0120_Local_0000.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..6f5d5fa71392dfd9a9ff51ae41dd1613a56bef4e --- /dev/null +++ b/20260113_064347_noprompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/softzoo/Ep_Batch_-1_Sampling_0120_Local_0000.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:68c3dbdb6ff24b8df7058f5f3d86d65092b115e79e4a2e099b69defb79839e42 +size 438812 diff --git a/20260113_064347_noprompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/softzoo/Ep_Batch_-1_Sampling_0120_Local_0001.mp4 b/20260113_064347_noprompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/softzoo/Ep_Batch_-1_Sampling_0120_Local_0001.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..524033a2fbcd31e327c80e2d19c5dcaf4f694803 --- /dev/null +++ b/20260113_064347_noprompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/softzoo/Ep_Batch_-1_Sampling_0120_Local_0001.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fbec90a98ff65add5e52d1c00fc1393b05c222c225717280224622af6ae4a788 +size 508001 diff --git a/20260113_064347_noprompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/softzoo/Ep_Batch_-1_Sampling_0120_Local_0002.mp4 b/20260113_064347_noprompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/softzoo/Ep_Batch_-1_Sampling_0120_Local_0002.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..7b4ccdb5482d678992623a733be09ea24c66ef77 --- /dev/null +++ b/20260113_064347_noprompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/softzoo/Ep_Batch_-1_Sampling_0120_Local_0002.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9803cca581a2c484674c6f5ea47cf8f378e56ffcc9f020b0691bd9b925d96236 +size 460690 diff --git a/20260113_064347_noprompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/softzoo/Ep_Batch_-1_Sampling_0132_Local_0000.mp4 b/20260113_064347_noprompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/softzoo/Ep_Batch_-1_Sampling_0132_Local_0000.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..c419dc10e2922742bad3acb84db41cfbd1e919e4 --- /dev/null +++ b/20260113_064347_noprompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/softzoo/Ep_Batch_-1_Sampling_0132_Local_0000.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ed09b4f2a91249f797cfe8b02b2388d07d4e2295b6f19469213b4cabd8f1acac +size 435810 diff --git a/20260113_064347_noprompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/softzoo/Ep_Batch_-1_Sampling_0132_Local_0001.mp4 b/20260113_064347_noprompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/softzoo/Ep_Batch_-1_Sampling_0132_Local_0001.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..f63adcedbb49a3995ba8e62175d7ab6e701dcba9 --- /dev/null +++ b/20260113_064347_noprompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/softzoo/Ep_Batch_-1_Sampling_0132_Local_0001.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6b7a53aa2699151216703cb339b9f1af305864b8faaded442346b0d86c1a9315 +size 507599 diff --git a/20260113_064347_noprompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/softzoo/Ep_Batch_-1_Sampling_0132_Local_0002.mp4 b/20260113_064347_noprompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/softzoo/Ep_Batch_-1_Sampling_0132_Local_0002.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..ea50929e2aa943aac96e1ef2cbaebc2f74512afe --- /dev/null +++ b/20260113_064347_noprompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/softzoo/Ep_Batch_-1_Sampling_0132_Local_0002.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2bbc08b309ce466b26772a9f3624c385f95b2c55b6578bd3457b935fbf3ef4bb +size 458664 diff --git a/20260113_064347_noprompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/softzoo/Ep_Batch_-1_Sampling_0144_Local_0000.mp4 b/20260113_064347_noprompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/softzoo/Ep_Batch_-1_Sampling_0144_Local_0000.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..302a26565f550abf4e4b1b147aaeb494b00f97b9 --- /dev/null +++ b/20260113_064347_noprompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/softzoo/Ep_Batch_-1_Sampling_0144_Local_0000.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:71978ecc81ffeeed03cb1a906338e57c8c37506b19f159d114f78475563c05f2 +size 438804 diff --git a/20260113_064347_noprompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/softzoo/Ep_Batch_-1_Sampling_0144_Local_0001.mp4 b/20260113_064347_noprompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/softzoo/Ep_Batch_-1_Sampling_0144_Local_0001.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..8777ff9805d6e7724298a06b0126f1498135630c --- /dev/null +++ b/20260113_064347_noprompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/softzoo/Ep_Batch_-1_Sampling_0144_Local_0001.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:77395e1787fcaedcfda47d731a5b4735d4b56145ab5ec8ed70ed57c1bcf7c598 +size 506484 diff --git a/20260113_064347_noprompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/softzoo/Ep_Batch_-1_Sampling_0144_Local_0002.mp4 b/20260113_064347_noprompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/softzoo/Ep_Batch_-1_Sampling_0144_Local_0002.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..fcd964887e40bdf2bec807de56fceff063308b0d --- /dev/null +++ b/20260113_064347_noprompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/softzoo/Ep_Batch_-1_Sampling_0144_Local_0002.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bfecf89e31ec90bc33bc9c5eb26b93f63df1148ec505a68a0d340861f9312c10 +size 459146 diff --git a/20260113_064347_noprompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/softzoo/Ep_Batch_-1_Sampling_0156_Local_0000.mp4 b/20260113_064347_noprompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/softzoo/Ep_Batch_-1_Sampling_0156_Local_0000.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..27fad500cf585a3c2c2e3c9dfccc2975d7bb6783 --- /dev/null +++ b/20260113_064347_noprompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/softzoo/Ep_Batch_-1_Sampling_0156_Local_0000.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:657c2499ffca19da09f091245acb606beea26fc74d11dfcde74c8e5b7d4b337e +size 436827 diff --git a/20260113_064347_noprompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/softzoo/Ep_Batch_-1_Sampling_0156_Local_0001.mp4 b/20260113_064347_noprompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/softzoo/Ep_Batch_-1_Sampling_0156_Local_0001.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..524dd8f5d6609177193421779a4c6b0f113012df --- /dev/null +++ b/20260113_064347_noprompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/softzoo/Ep_Batch_-1_Sampling_0156_Local_0001.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6b42178f73313b83edd2322f0b2cc74aaa5465248d62d5f35e3c9da34baf42bf +size 512172 diff --git a/20260113_064347_noprompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/softzoo/Ep_Batch_-1_Sampling_0156_Local_0002.mp4 b/20260113_064347_noprompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/softzoo/Ep_Batch_-1_Sampling_0156_Local_0002.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..62d41c3f6076c42d2030e36921cf27dfbd2e5a6e --- /dev/null +++ b/20260113_064347_noprompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/softzoo/Ep_Batch_-1_Sampling_0156_Local_0002.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:01ebe47681d7e17e6677fe5927e7a52449619717a91f680d8cca8255dc36494d +size 464246 diff --git a/20260113_064347_noprompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/softzoo/Ep_Batch_-1_Sampling_0168_Local_0000.mp4 b/20260113_064347_noprompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/softzoo/Ep_Batch_-1_Sampling_0168_Local_0000.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..bdba78a2f7a9f3198e6dbc28e9d7f96723970617 --- /dev/null +++ b/20260113_064347_noprompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/softzoo/Ep_Batch_-1_Sampling_0168_Local_0000.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0239a3f954bf10203c444c08276aa7da4bec3ea59cdc8989cca711703e9b6d24 +size 438802 diff --git a/20260113_064347_noprompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/softzoo/Ep_Batch_-1_Sampling_0168_Local_0001.mp4 b/20260113_064347_noprompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/softzoo/Ep_Batch_-1_Sampling_0168_Local_0001.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..1eb795adb600dfe69a32da2018f38808914f1e87 --- /dev/null +++ b/20260113_064347_noprompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/softzoo/Ep_Batch_-1_Sampling_0168_Local_0001.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ecbd7093008f423ddc424929fcb200e21bf60ddb0452705e104da87fcc3a36a7 +size 511622 diff --git a/20260113_064347_noprompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/softzoo/Ep_Batch_-1_Sampling_0168_Local_0002.mp4 b/20260113_064347_noprompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/softzoo/Ep_Batch_-1_Sampling_0168_Local_0002.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..e1080846206d57a22477c33d9fdf6d6b0913aab9 --- /dev/null +++ b/20260113_064347_noprompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/softzoo/Ep_Batch_-1_Sampling_0168_Local_0002.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6a3d5447b4634148b9b8cd27c328302a5a6b3406706b580e6042b4ef1ec19312 +size 262188 diff --git a/20260113_064347_noprompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/softzoo/design/geometry_sampling_0_iter_120_batch_0.ply b/20260113_064347_noprompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/softzoo/design/geometry_sampling_0_iter_120_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..a4d5aeb274f66a1ed25895dbf3631acdd6017049 Binary files /dev/null and b/20260113_064347_noprompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/softzoo/design/geometry_sampling_0_iter_120_batch_0.ply differ diff --git a/20260113_064347_noprompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/softzoo/design/geometry_sampling_0_iter_128_batch_0.ply b/20260113_064347_noprompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/softzoo/design/geometry_sampling_0_iter_128_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..b1c0ef0741a56ee95924d96ecce2f4af3714f3fd Binary files /dev/null and b/20260113_064347_noprompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/softzoo/design/geometry_sampling_0_iter_128_batch_0.ply differ diff --git a/20260113_064347_noprompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/softzoo/design/geometry_sampling_0_iter_136_batch_0.ply b/20260113_064347_noprompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/softzoo/design/geometry_sampling_0_iter_136_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..77b874e0201d531af360351186d5f888f21f6437 Binary files /dev/null and b/20260113_064347_noprompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/softzoo/design/geometry_sampling_0_iter_136_batch_0.ply differ diff --git a/20260113_064347_noprompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/softzoo/design/geometry_sampling_0_iter_144_batch_0.ply b/20260113_064347_noprompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/softzoo/design/geometry_sampling_0_iter_144_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..f1bd47661057be40851086511ac6c070f623eaef Binary files /dev/null and b/20260113_064347_noprompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/softzoo/design/geometry_sampling_0_iter_144_batch_0.ply differ diff --git a/20260113_064347_noprompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/softzoo/design/geometry_sampling_0_iter_152_batch_0.ply b/20260113_064347_noprompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/softzoo/design/geometry_sampling_0_iter_152_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..cd5de0aba35c87fd8e2a08a72bf951daf61d3691 Binary files /dev/null and b/20260113_064347_noprompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/softzoo/design/geometry_sampling_0_iter_152_batch_0.ply differ diff --git a/20260113_064347_noprompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/softzoo/design/geometry_sampling_0_iter_160_batch_0.ply b/20260113_064347_noprompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/softzoo/design/geometry_sampling_0_iter_160_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..04d98fb75751cc7b67af4d45ebff3362a11ca561 Binary files /dev/null and b/20260113_064347_noprompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/softzoo/design/geometry_sampling_0_iter_160_batch_0.ply differ diff --git a/20260113_064347_noprompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/softzoo/design/geometry_sampling_0_iter_168_batch_0.ply b/20260113_064347_noprompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/softzoo/design/geometry_sampling_0_iter_168_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..5fb461a2f7510b099fe09507bd35d8fc25786f0a Binary files /dev/null and b/20260113_064347_noprompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/softzoo/design/geometry_sampling_0_iter_168_batch_0.ply differ diff --git a/20260113_064347_noprompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/softzoo/design/gripper_batch_-1.npz b/20260113_064347_noprompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/softzoo/design/gripper_batch_-1.npz index 9a9ab07ff9cb8986c63d9e8544e85c926721c772..b48d596a132ddd9b705880d70b2c7982fcea81b6 100644 --- a/20260113_064347_noprompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/softzoo/design/gripper_batch_-1.npz +++ b/20260113_064347_noprompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/softzoo/design/gripper_batch_-1.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:2f8aadde41a9d3f261b8e69ace652ce190b984d39e8df0f3a12ace035987e7c2 -size 2877 +oid sha256:eb8c868f5aa76d72bd5a0d816dca8e1c18d165678efd79aa96a727558e2890bb +size 2849 diff --git a/20260113_064347_noprompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/softzoo/design/mesh_sampling_0_iter_120_batch_0.ply b/20260113_064347_noprompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/softzoo/design/mesh_sampling_0_iter_120_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..2679d2322010677d80d648f3cfea2dfce214d71a --- /dev/null +++ b/20260113_064347_noprompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/softzoo/design/mesh_sampling_0_iter_120_batch_0.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bcffe0debec7533f6f09393ff2f9c74e389de1615f6aaed31bd40a9a360f081e +size 114657 diff --git a/20260113_064347_noprompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/softzoo/design/mesh_sampling_0_iter_128_batch_0.ply b/20260113_064347_noprompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/softzoo/design/mesh_sampling_0_iter_128_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..c4b1be7a2789390fc69ab44321db0902db141fa5 --- /dev/null +++ b/20260113_064347_noprompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/softzoo/design/mesh_sampling_0_iter_128_batch_0.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:536caebd6b7180804601510464868d51099a242f5e7447d0bbca6f80c2583d4a +size 101367 diff --git a/20260113_064347_noprompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/softzoo/design/mesh_sampling_0_iter_136_batch_0.ply b/20260113_064347_noprompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/softzoo/design/mesh_sampling_0_iter_136_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..35c435de6429c448839fbfcc92f16e2f097e86b3 --- /dev/null +++ b/20260113_064347_noprompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/softzoo/design/mesh_sampling_0_iter_136_batch_0.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5dd156890baac3ff3570537c570c70e80ea9b2a99b7bf48fa3db090ba54368e1 +size 111119 diff --git a/20260113_064347_noprompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/softzoo/design/mesh_sampling_0_iter_144_batch_0.ply b/20260113_064347_noprompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/softzoo/design/mesh_sampling_0_iter_144_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..00e25696becc906f3517f00c55c51e77d0a40075 --- /dev/null +++ b/20260113_064347_noprompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/softzoo/design/mesh_sampling_0_iter_144_batch_0.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b81676d265f686131889aebad669b878768b31baf1c5f843d0c46d9a2db654de +size 111521 diff --git a/20260113_064347_noprompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/softzoo/design/mesh_sampling_0_iter_152_batch_0.ply b/20260113_064347_noprompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/softzoo/design/mesh_sampling_0_iter_152_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..12e432a537fd0cdb3de4274f855948533cd9c33c --- /dev/null +++ b/20260113_064347_noprompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/softzoo/design/mesh_sampling_0_iter_152_batch_0.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:90bb3de3912c1deb06261726b513f3a1c7e4b76753f12a0241b602603a26ba7b +size 119235 diff --git a/20260113_064347_noprompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/softzoo/design/mesh_sampling_0_iter_160_batch_0.ply b/20260113_064347_noprompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/softzoo/design/mesh_sampling_0_iter_160_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..1be960816249557b71bfbe9cad1f08792989ef83 --- /dev/null +++ b/20260113_064347_noprompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/softzoo/design/mesh_sampling_0_iter_160_batch_0.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3bd2ad76626f7a603869707970327cbdda9b34f1d3d27db85295b12e465a4e65 +size 122647 diff --git a/20260113_064347_noprompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/softzoo/design/mesh_sampling_0_iter_168_batch_0.ply b/20260113_064347_noprompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/softzoo/design/mesh_sampling_0_iter_168_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..90e4ed2997920cd221bcee8ec4e17e56d26f0807 --- /dev/null +++ b/20260113_064347_noprompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/softzoo/design/mesh_sampling_0_iter_168_batch_0.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5f0616c1b4e765df504f04f47042b2652cf70dc3b9b9f360a21c228fe3984f45 +size 123867 diff --git a/20260113_064347_noprompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/viz_gripper_dir/gripper_idx120_design_0.0014918434899300337_sim_0.00065650410470026.ply b/20260113_064347_noprompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/viz_gripper_dir/gripper_idx120_design_0.0014918434899300337_sim_0.00065650410470026.ply new file mode 100644 index 0000000000000000000000000000000000000000..356f76b0da8e7c07557e8e04710d11667ff5057c --- /dev/null +++ b/20260113_064347_noprompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/viz_gripper_dir/gripper_idx120_design_0.0014918434899300337_sim_0.00065650410470026.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:971914a12562f18f5b34ccdfc7bdf0c56c39fe95115ac416989b684e08910ad4 +size 960706 diff --git a/20260113_064347_noprompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/viz_gripper_dir/gripper_idx132_design_0.001439349609427154_sim_0.000656870810193178.ply b/20260113_064347_noprompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/viz_gripper_dir/gripper_idx132_design_0.001439349609427154_sim_0.000656870810193178.ply new file mode 100644 index 0000000000000000000000000000000000000000..e2e295b8bde4ddaba6da186bd07140104771537c --- /dev/null +++ b/20260113_064347_noprompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/viz_gripper_dir/gripper_idx132_design_0.001439349609427154_sim_0.000656870810193178.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9f1c017d11144fa1afe809fdb64239800fa9d9d62a86c0a53f05d840bada8653 +size 960706 diff --git a/20260113_064347_noprompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/viz_gripper_dir/gripper_idx144_design_0.0014220357406884432_sim_0.0006589269591549456.ply b/20260113_064347_noprompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/viz_gripper_dir/gripper_idx144_design_0.0014220357406884432_sim_0.0006589269591549456.ply new file mode 100644 index 0000000000000000000000000000000000000000..735e14a5f2854ddc816a92b80e3f403f8828a195 --- /dev/null +++ b/20260113_064347_noprompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/viz_gripper_dir/gripper_idx144_design_0.0014220357406884432_sim_0.0006589269591549456.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b43fc1f0604b97cc8ac7cd6eb2dd07e7f5467bc9184645eb63b568cff2ef45bb +size 960706 diff --git a/20260113_064347_noprompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/viz_gripper_dir/gripper_idx156_design_0.001352617866359651_sim_0.0006580810748922757.ply b/20260113_064347_noprompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/viz_gripper_dir/gripper_idx156_design_0.001352617866359651_sim_0.0006580810748922757.ply new file mode 100644 index 0000000000000000000000000000000000000000..f90e91bf0cc504d36cac39b0ae73de71887e955d --- /dev/null +++ b/20260113_064347_noprompt_checkednorm_hand_geo1e-2_topo1e-2_accum1_seed569/viz_gripper_dir/gripper_idx156_design_0.001352617866359651_sim_0.0006580810748922757.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8ecb217fcc3f9cf5700a8ed5852be1bf256f5a30039051626d0e8f03a80a01e5 +size 960706 diff --git a/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/cmd_config.yaml b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/cmd_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d5e2fb63fe0170aadc61233cfe09070519a95d18 --- /dev/null +++ b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/cmd_config.yaml @@ -0,0 +1,34 @@ +accum_grad_sim: 3 +desc_prompt: base.txt +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: prompt_angled_hand_geo3e-2_topo3e-2_accum3 +fixed_v_file: gripping_5_HTP.json +geometry_lr: 0.03 +grad_clipping: 10.0 +gripper_dim: 12 +gumbel: false +init_emb_path: asset/embeddings/hand_stump_1_hard_09_3_soft_03.npz +layout_config_file: hand.json +max_epoch: 1200 +min_delta: 0.0 +monitor_metric: eval/sim_loss +num_fingers: 5 +num_segments: 10 +object_set_file: objects_set_a.json +optim_config_path: config/optimization_config/hand2/optim_prompt.yaml +patience: 10 +seed: 569 +stop_mode: min +topo_lr: 0.03 +viewpoint: +- -1.0 +- -0.25 +- -0.1 +zero_grad_dims: +- 8 +- 9 +- 10 +- 11 diff --git a/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/config.yaml b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b2d527943614fb63f27df5570cbb7f9a2170c4e0 --- /dev/null +++ b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/config.yaml @@ -0,0 +1,66 @@ +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: objects_set_a.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 + layout_config_file: hand.json + desc_prompt: base.txt + viewpoint: [-1.,-0.25,-0.1] + 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: [1.e-3,2.e-4,1.0] + obj_x_mul: [0.,1.,0.] + com_x_mul: [1.,2.,1.] + obj_particle_id: 2 + + design_loss_types: ['FingerPenLoss','SelfFingerPenLoss','CLIPLoss','AngleLoss'] + design_loss_coeffs: [0.1,0.1,1.e-6,0.1] + + 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 diff --git a/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/embeddings/gripper_idx0_design_0.008881494402885437_sim_0.0006588529344507719.npz b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/embeddings/gripper_idx0_design_0.008881494402885437_sim_0.0006588529344507719.npz new file mode 100644 index 0000000000000000000000000000000000000000..498bf9d0dcb610469c0423cfe9f055d36334e5ae --- /dev/null +++ b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/embeddings/gripper_idx0_design_0.008881494402885437_sim_0.0006588529344507719.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e5cabf3643cbff9671e28cdb3e296f43a64f01ee1236dc413b417f126e64e572 +size 1240 diff --git a/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/embeddings/gripper_idx108_design_0.0025677985977381468_sim_0.0006492739281940918.npz b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/embeddings/gripper_idx108_design_0.0025677985977381468_sim_0.0006492739281940918.npz new file mode 100644 index 0000000000000000000000000000000000000000..89f64fb5001ca83b9c0accdd6aa1bec3725e7350 --- /dev/null +++ b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/embeddings/gripper_idx108_design_0.0025677985977381468_sim_0.0006492739281940918.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:92ce28adc4536d6ff7ce1415fd617661fbaf96a2c031bbcc06050a9c112cc53e +size 2907 diff --git a/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/embeddings/gripper_idx120_design_0.001693162601441145_sim_0.0006511623295171359.npz b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/embeddings/gripper_idx120_design_0.001693162601441145_sim_0.0006511623295171359.npz new file mode 100644 index 0000000000000000000000000000000000000000..259f0b2b69d6085c892d37f5a28883311131e25c --- /dev/null +++ b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/embeddings/gripper_idx120_design_0.001693162601441145_sim_0.0006511623295171359.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1c3c73b59be7ea2cfec8e0759e712c642393053f0a9cf75e4a9dd439c43cb559 +size 2912 diff --git a/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/embeddings/gripper_idx12_design_0.00875162985175848_sim_0.0006582465779694556.npz b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/embeddings/gripper_idx12_design_0.00875162985175848_sim_0.0006582465779694556.npz new file mode 100644 index 0000000000000000000000000000000000000000..727a0bd658107f9d6e1bbbd7d707ecd7c7432b9b --- /dev/null +++ b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/embeddings/gripper_idx12_design_0.00875162985175848_sim_0.0006582465779694556.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b41907e6364a4510e793749619f9341c02578c207d7ba1d34fc1aabd914afe5d +size 2711 diff --git a/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/embeddings/gripper_idx132_design_0.0012613439466804266_sim_0.000657885490175401.npz b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/embeddings/gripper_idx132_design_0.0012613439466804266_sim_0.000657885490175401.npz new file mode 100644 index 0000000000000000000000000000000000000000..1a000345484dc20aff64244626cb47a4e68197c6 --- /dev/null +++ b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/embeddings/gripper_idx132_design_0.0012613439466804266_sim_0.000657885490175401.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:83d527c20514866aaf141644a7a464dbd387b65658cd354fdefb15f238ab135d +size 2914 diff --git a/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/embeddings/gripper_idx144_design_0.0012523953337222338_sim_0.0006596020943954517.npz b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/embeddings/gripper_idx144_design_0.0012523953337222338_sim_0.0006596020943954517.npz new file mode 100644 index 0000000000000000000000000000000000000000..f0482e114a045dd1988909be7c515ef5e9afe1dd --- /dev/null +++ b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/embeddings/gripper_idx144_design_0.0012523953337222338_sim_0.0006596020943954517.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0ace1a8e3babbf5b2b125d7655139ad3859287ba8e13f050b1362253caafbd0e +size 2905 diff --git a/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/embeddings/gripper_idx156_design_0.0011470739264041185_sim_0.0006596264691106987.npz b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/embeddings/gripper_idx156_design_0.0011470739264041185_sim_0.0006596264691106987.npz new file mode 100644 index 0000000000000000000000000000000000000000..4ba56a5e3f1ff5857cd95f531876dfceebfa159a --- /dev/null +++ b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/embeddings/gripper_idx156_design_0.0011470739264041185_sim_0.0006596264691106987.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a2ddf050391fd36a511e4c12301a90a29806e4b5291f1967a9992a7a41b2c4c4 +size 2920 diff --git a/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/embeddings/gripper_idx168_design_0.0010819857707247138_sim_0.000659586449886953.npz b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/embeddings/gripper_idx168_design_0.0010819857707247138_sim_0.000659586449886953.npz new file mode 100644 index 0000000000000000000000000000000000000000..f131debc972a256862b4457d70df420d60d5c684 --- /dev/null +++ b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/embeddings/gripper_idx168_design_0.0010819857707247138_sim_0.000659586449886953.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:24975761145407498218506549ad0b20721d8a06bca3205031e43869887f2d34 +size 2910 diff --git a/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/embeddings/gripper_idx180_design_0.0010445148218423128_sim_0.000659518862985813.npz b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/embeddings/gripper_idx180_design_0.0010445148218423128_sim_0.000659518862985813.npz new file mode 100644 index 0000000000000000000000000000000000000000..36e70e3e9d7c9e4b3e36e865da2b6c93f48db86a --- /dev/null +++ b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/embeddings/gripper_idx180_design_0.0010445148218423128_sim_0.000659518862985813.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ed0c344fe606ae9533398dc87e53139555e4466862e8bdb19aa12a8135f760d1 +size 2908 diff --git a/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/embeddings/gripper_idx24_design_0.008538839407265186_sim_0.0006577322198497807.npz b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/embeddings/gripper_idx24_design_0.008538839407265186_sim_0.0006577322198497807.npz new file mode 100644 index 0000000000000000000000000000000000000000..431afa1ee873fe46b2d79ca840aa530a7b64e998 --- /dev/null +++ b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/embeddings/gripper_idx24_design_0.008538839407265186_sim_0.0006577322198497807.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ed8b75c36021051283d87bdef4677d88487ed039d48ccd009454c85d698e9274 +size 2815 diff --git a/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/embeddings/gripper_idx36_design_0.007361982017755508_sim_0.0006588382317725755.npz b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/embeddings/gripper_idx36_design_0.007361982017755508_sim_0.0006588382317725755.npz new file mode 100644 index 0000000000000000000000000000000000000000..988d6db3d31176d1959a708f5dbfd5c4c685e24a --- /dev/null +++ b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/embeddings/gripper_idx36_design_0.007361982017755508_sim_0.0006588382317725755.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:870ea5a0a0b3857481efc3a59c066cf73cffc856b54eea7e0c005788330d5742 +size 2869 diff --git a/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/embeddings/gripper_idx48_design_0.005962052382528782_sim_0.0006573703182281125.npz b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/embeddings/gripper_idx48_design_0.005962052382528782_sim_0.0006573703182281125.npz new file mode 100644 index 0000000000000000000000000000000000000000..5e27c3a706b4adddca0560bf503dbb424e5a4cc7 --- /dev/null +++ b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/embeddings/gripper_idx48_design_0.005962052382528782_sim_0.0006573703182281125.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:528a77f8f0cc107fe26d1cb60c8b8884f95e6d26bad945622c1aa12d9259310e +size 2883 diff --git a/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/embeddings/gripper_idx60_design_0.004929875954985619_sim_0.0006563236399630005.npz b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/embeddings/gripper_idx60_design_0.004929875954985619_sim_0.0006563236399630005.npz new file mode 100644 index 0000000000000000000000000000000000000000..0fe16726e3bcd5e2673fff6907f99228d326b5fe --- /dev/null +++ b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/embeddings/gripper_idx60_design_0.004929875954985619_sim_0.0006563236399630005.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3ff9628f1e24731c96a7abe493abb53feb4fc3584a34261b6133a9c0765faa16 +size 2884 diff --git a/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/embeddings/gripper_idx72_design_0.003790108719840646_sim_0.0006507755430078241.npz b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/embeddings/gripper_idx72_design_0.003790108719840646_sim_0.0006507755430078241.npz new file mode 100644 index 0000000000000000000000000000000000000000..2a25d52f915a7523d2f297bb7a089c26ce4996aa --- /dev/null +++ b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/embeddings/gripper_idx72_design_0.003790108719840646_sim_0.0006507755430078241.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1eeac7934d169286a92a2c88bf3cf9e32762388f90c6035f3c1d6dea5aaf7e00 +size 2891 diff --git a/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/embeddings/gripper_idx84_design_0.003142977599054575_sim_0.0006499426822131402.npz b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/embeddings/gripper_idx84_design_0.003142977599054575_sim_0.0006499426822131402.npz new file mode 100644 index 0000000000000000000000000000000000000000..e2626c0b708242e2650265497a476d138f5bb954 --- /dev/null +++ b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/embeddings/gripper_idx84_design_0.003142977599054575_sim_0.0006499426822131402.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d59481475b3dea89471c0f0ef63bb9ce8892e2ce0af79b7fb7e8aa3b72622b34 +size 2906 diff --git a/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/embeddings/gripper_idx96_design_0.002744237193837762_sim_0.0006267022743476347.npz b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/embeddings/gripper_idx96_design_0.002744237193837762_sim_0.0006267022743476347.npz new file mode 100644 index 0000000000000000000000000000000000000000..790fb04c946b69f237db6d5850e0ad36bdfd29c9 --- /dev/null +++ b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/embeddings/gripper_idx96_design_0.002744237193837762_sim_0.0006267022743476347.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6e3fa7e96804a8207e57a1b1ad0d6f9def3ec236f07f8b673ef51fa68136a815 +size 2904 diff --git a/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0000_Local_0000.mp4 b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0000_Local_0000.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..62bd2cceb8e0e42bf08c35469ff692154bd7156d --- /dev/null +++ b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0000_Local_0000.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0325ed55f48ef1303777f73c995e2d728083efcfd122ac5b8cfdf40550656813 +size 438803 diff --git a/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0000_Local_0001.mp4 b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0000_Local_0001.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..b9e5a2371341509f3e38781a08bb12554b5ee7a1 --- /dev/null +++ b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0000_Local_0001.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:630723a51d2eee2e40710d624f5e60d6d81bde43d7bb87e6464fce73200047c6 +size 507209 diff --git a/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0000_Local_0002.mp4 b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0000_Local_0002.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..0f1c6b813f42c2e737243fb1925e2cecbfbcc03b --- /dev/null +++ b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0000_Local_0002.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9725e124fe0acd086605b365d432ddb9b06bd6059530fea6485769411a2a5c00 +size 456967 diff --git a/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0012_Local_0000.mp4 b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0012_Local_0000.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..fa72833beed11eb8ab51d5d0a122855eef0deea2 --- /dev/null +++ b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0012_Local_0000.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:27f3b2a4d3580102c85abf6138ad2bf17284d41189eaf2e5a97d37e7456acf82 +size 437530 diff --git a/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0012_Local_0001.mp4 b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0012_Local_0001.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..5609b43b0cf3158e1ec752ac59484e5eded16b3a --- /dev/null +++ b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0012_Local_0001.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3b854b5cd3d67813f974ef35a3baa76de3973b5eed60cd65af5d5e0db4bb64f7 +size 510066 diff --git a/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0012_Local_0002.mp4 b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0012_Local_0002.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..5d7b06ed6c285ad91a090f11c29b1048fb31071c --- /dev/null +++ b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0012_Local_0002.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:499ed998fb06176013bb229e37371caeb7eccd5c248708c36484517a1c07fa8d +size 457606 diff --git a/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0024_Local_0000.mp4 b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0024_Local_0000.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..c8a205b372fecb8a6352023e7abf6ba49aa99426 --- /dev/null +++ b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0024_Local_0000.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:818db3e36fd1756f2b04aaed7297b84749f51b6346fab8d87dae16281d3f031e +size 436085 diff --git a/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0024_Local_0001.mp4 b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0024_Local_0001.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..81a79dc23ddad996fcc4de3bc76354ff014990ee --- /dev/null +++ b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0024_Local_0001.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d39744d2b5742610447f7d35d98b08c421eb6d08283e43bcedc75d220f5829c3 +size 512231 diff --git a/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0024_Local_0002.mp4 b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0024_Local_0002.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..1691c325f60afe46bca5781a9fbbd410cbb56fc6 --- /dev/null +++ b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0024_Local_0002.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:86b753f7d90f47343f7e91892425a2c07ad0afe04dff265991e198b5c4004125 +size 457795 diff --git a/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0036_Local_0000.mp4 b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0036_Local_0000.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..e0f0d0b2e2c243a4a436ca5fb96f635f2121e367 --- /dev/null +++ b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0036_Local_0000.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a68a453fb53f0a43061bfb366d74d1d55b7150e877f4c18181701467418ecb18 +size 434201 diff --git a/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0036_Local_0001.mp4 b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0036_Local_0001.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..888620b46e995c38e42fe37b83e60263873ac507 --- /dev/null +++ b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0036_Local_0001.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:aff2ec8a6fc94c8a720a4a711370ce2368912425c7383b66b2346c6777473337 +size 508179 diff --git a/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0036_Local_0002.mp4 b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0036_Local_0002.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..39b34e9831b24ec88de5fbbee55dc69a6a1ebfdf --- /dev/null +++ b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0036_Local_0002.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:694d390879af31646b39d7f6ff80d320bbff731eaed073a60235e9fa6228065e +size 456162 diff --git a/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0048_Local_0000.mp4 b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0048_Local_0000.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..28af58d330047e8ed9bf00cb3c47aa1cec962d85 --- /dev/null +++ b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0048_Local_0000.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:44c586dcbd71fc5e3dd406c7d273f2ae67caf8e2f4b2a8de1574b89499f29e48 +size 437011 diff --git a/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0048_Local_0001.mp4 b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0048_Local_0001.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..4a1fcaa4c30cf1be52e006b31830ac8f31d11891 --- /dev/null +++ b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0048_Local_0001.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b04d0e4f0694559e930c9aa1278dfccb5d0694e649216ea413f6dc7fec8b65a4 +size 503431 diff --git a/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0048_Local_0002.mp4 b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0048_Local_0002.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..07d7414e939490195f43d442d8d209c3b5969da2 --- /dev/null +++ b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0048_Local_0002.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7b097d703e816d1113151140f344cb03f619f560faa1b0d6946c4cbe4c76bcd2 +size 455714 diff --git a/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0060_Local_0000.mp4 b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0060_Local_0000.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..01e74bb1fe6b8e21c512baa499943dc8d71f6d65 --- /dev/null +++ b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0060_Local_0000.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:51fb6eb7e2921ef2d65cee2b6e4f18a9f5ad51cd07bf0fd2a51c28497261bfd2 +size 432237 diff --git a/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0060_Local_0001.mp4 b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0060_Local_0001.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..19689f8c240a882a3561da60d06951ea78907122 --- /dev/null +++ b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0060_Local_0001.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f58efa8a050505334b2c3c7e9f2d22affa5fbb32a9ba833bf77faf0f30cfcff2 +size 508671 diff --git a/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0060_Local_0002.mp4 b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0060_Local_0002.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..1d929eb61124bc74118d4b9f70eae9a1bfaff5fc --- /dev/null +++ b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0060_Local_0002.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:91fc7a69678243387877d0db17b2ae14dd6c884e5b6e40bb4ec53656b04bd26f +size 456906 diff --git a/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0072_Local_0000.mp4 b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0072_Local_0000.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..fa2071ebd984ca39f12d14d5bb33c0b2655ba78f --- /dev/null +++ b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0072_Local_0000.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:817b36424a87e4f171c6f8143ef95fa4b2889fc764820621cf934631146d157e +size 435933 diff --git a/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0072_Local_0001.mp4 b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0072_Local_0001.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..e9086f6429e5c00741ada745eeef4f688d4d254a --- /dev/null +++ b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0072_Local_0001.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:286812b213e32bf6eb1e97c95ef56a90632e957f22f921af4bab7b643ab49e73 +size 507745 diff --git a/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0072_Local_0002.mp4 b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0072_Local_0002.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..22e91aac04abb80774175ba51a9164188eaba7bf --- /dev/null +++ b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0072_Local_0002.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:75d8ba6d3608ef83bc54cf899eed36f49a7087e28c9e06f7052370cc7db0ca78 +size 457374 diff --git a/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0084_Local_0000.mp4 b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0084_Local_0000.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..77f8ff9397ae38eda10d782defa7c2c7bb954e17 --- /dev/null +++ b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0084_Local_0000.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7bdd382f11a989341efb239220a4d215683f857514764abcebb621f977a66cd0 +size 448579 diff --git a/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0084_Local_0001.mp4 b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0084_Local_0001.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..fce772f68d292d2ebe372600d43134e5042b955d --- /dev/null +++ b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0084_Local_0001.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ba2b7e34496199f92803824e8f6a8ede546cc0044f72a049b99fbd70b10b9c2a +size 510877 diff --git a/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0084_Local_0002.mp4 b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0084_Local_0002.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..1cc91a17166939bfb891c14ef3d97a3357cd050e --- /dev/null +++ b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0084_Local_0002.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2907e64223b6e48a3029336024c5c7b34d3f45ecafbde39c4eea68b09ab36c35 +size 451325 diff --git a/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0096_Local_0000.mp4 b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0096_Local_0000.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..0ec43df380bbc3a7245c10098ec67ea2d9040e06 --- /dev/null +++ b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0096_Local_0000.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b0fdc170ea90387b913c67c94d894748a49dd6dc14300fec102d5c45c5233792 +size 452678 diff --git a/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0096_Local_0001.mp4 b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0096_Local_0001.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..70487c8d9171c3a4004358a28eeb03e42829485d --- /dev/null +++ b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0096_Local_0001.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4dd42bb122405d685c8b7ddc056ab567f3b52d9938181abd0aa7a8a8d55f569e +size 518028 diff --git a/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0096_Local_0002.mp4 b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0096_Local_0002.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..fb62867e4964f5dbd5c8080cb37ec61e1a6c73cc --- /dev/null +++ b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0096_Local_0002.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4fcbad663893da7b043caab255481d905f3f4141a463461042604efc005b907d +size 459610 diff --git a/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0108_Local_0000.mp4 b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0108_Local_0000.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..dea6bf0c50e5cbb39fc9df18dd6c4b7a08365785 --- /dev/null +++ b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0108_Local_0000.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:436363c5da950c4313b19c1a03ea873534fb1dfd0bfe2fa7e88868e468393e4f +size 447710 diff --git a/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0108_Local_0001.mp4 b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0108_Local_0001.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..5972c78f7cdf473b7ec40f992fe6138417ab36f0 --- /dev/null +++ b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0108_Local_0001.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a6d032c675cfa51724a358cb6658c0353ca502dfca4fcf0d13c1078cbf46622c +size 508701 diff --git a/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0108_Local_0002.mp4 b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0108_Local_0002.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..9ebda89b0329b5575247d49828a0d83b308fffe5 --- /dev/null +++ b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0108_Local_0002.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f66d30ac05801dd96b7c65b3eb86b55a137e4e74e39b5163680f73b45161972f +size 455038 diff --git a/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0120_Local_0000.mp4 b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0120_Local_0000.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..92f04d29b7bd2b03183314ed7c937f157c5ba9de --- /dev/null +++ b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0120_Local_0000.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ee7d36ba39097aae2db270cc6c31bd2eb79d4c5165ed00891fd2a88ed6857aaf +size 448830 diff --git a/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0120_Local_0001.mp4 b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0120_Local_0001.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..ec7f5da40c146dd2f93fe108c92b084d8a021b7a --- /dev/null +++ b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0120_Local_0001.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:505b992e197960e58141fd01d790760ae3088a9c0d1e604b638d5be9fa92d121 +size 506107 diff --git a/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0120_Local_0002.mp4 b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0120_Local_0002.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..c477beb68315a6e0d3dc25226aba6ae17461015e --- /dev/null +++ b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0120_Local_0002.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bac0d372e6261121f65bcf7daa83c4f830966c3f199dc4fcdb53ffe23a9a73f1 +size 453426 diff --git a/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0132_Local_0000.mp4 b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0132_Local_0000.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..d27a24517d4bcda32e0249ea78fba0c1dd865105 --- /dev/null +++ b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0132_Local_0000.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1f2fd89e774e0a2368d09068866562bd5f3e462abb902d2c99941b60b99af78c +size 448252 diff --git a/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0132_Local_0001.mp4 b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0132_Local_0001.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..17af5ddbabbe3c4804fccd28fb2b3e8ed5eee05a --- /dev/null +++ b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0132_Local_0001.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e4d9fcb756420e7cc088fdd3c167d3f0eb85119566c841a7807e3fd9a6ae556d +size 502843 diff --git a/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0132_Local_0002.mp4 b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0132_Local_0002.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..a3e10ef1664777ad1ab37dbd9304439a2fc05115 --- /dev/null +++ b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0132_Local_0002.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:08da81db9ba5fc041dd72f968f60634767c4459c23de3c1aa3d522406753883b +size 455273 diff --git a/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0144_Local_0000.mp4 b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0144_Local_0000.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..1a091f4eeedd83a2666385f435e488d43e7edc5d --- /dev/null +++ b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0144_Local_0000.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:45dcc2978d6a83350e2c08d24995d040fa9c2b07a3cdbfcc6fd7a4de690260d5 +size 432353 diff --git a/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0144_Local_0001.mp4 b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0144_Local_0001.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..185789361dd395a4fd8cbb1428878f08cd924a02 --- /dev/null +++ b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0144_Local_0001.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:152b04aa9c54d69d0ef6826c88e7f3aa04b5bb6a592840833141a5e1011dda7f +size 501688 diff --git a/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0144_Local_0002.mp4 b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0144_Local_0002.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..488b41251df4e74373e4a85cea801ae8ccc13328 --- /dev/null +++ b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0144_Local_0002.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:03319edcfbc1fc30af37c455ca1e6871ce88940369818279aa7efd8de19b8838 +size 448170 diff --git a/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0156_Local_0000.mp4 b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0156_Local_0000.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..5680b330886aa4c47964e7e3661f3e1df3277259 --- /dev/null +++ b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0156_Local_0000.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c43ad0ea0bd902a1542f2f66bcfe8fb9a232251d85dd3f71ef1d10d3db6be06e +size 448004 diff --git a/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0156_Local_0001.mp4 b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0156_Local_0001.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..96b07f37c4bf38369bc3dd9e6c3bb8fba1b34689 --- /dev/null +++ b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0156_Local_0001.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:86c978df34ea5b451d1267fbf3ea06e1652a7c7f03663a86f773cbb21c0fc1e6 +size 501550 diff --git a/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0156_Local_0002.mp4 b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0156_Local_0002.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..1ef065a87ecda4b1cf8ae42630157953e266ae49 --- /dev/null +++ b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0156_Local_0002.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0c1959c59f20529626cdf6397a855eb98263cbf413aabdf506defa554c062441 +size 452100 diff --git a/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0168_Local_0000.mp4 b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0168_Local_0000.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..5984d5245e358417d23e346ee4e8f20e5bd34094 --- /dev/null +++ b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0168_Local_0000.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4f0aaf2a77b0600667319191ac14393355e3f5294ced55aac68e50bf39c4a21d +size 448391 diff --git a/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0168_Local_0001.mp4 b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0168_Local_0001.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..189f948e994aae452939183eff672674372caa14 --- /dev/null +++ b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0168_Local_0001.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6753cf72881a4a03e52a3007fbe58a0240b5bbfd4232a485a57ad89a0fd58d9f +size 503474 diff --git a/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0168_Local_0002.mp4 b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0168_Local_0002.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..22a64afe2e6d1952dc227e1f6fe4f3b8cbc44224 --- /dev/null +++ b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0168_Local_0002.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:05398fbabbcf3dfca60b6c9395ddb1050ebe151e7c5ad0642c5f97077cdba248 +size 452545 diff --git a/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0180_Local_0000.mp4 b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0180_Local_0000.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..f09bd603b2caf0f1c1dcc0cba35076cce41d6278 --- /dev/null +++ b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0180_Local_0000.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:95f179a82e042d21d6944c19cbf4679ba09c19bcee8dd5152bf1789358e3fe44 +size 449710 diff --git a/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0180_Local_0001.mp4 b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0180_Local_0001.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..9eb8e2e50539a2f6a59f6af3bea044dfc69857c5 --- /dev/null +++ b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0180_Local_0001.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c31b27860977efd24518ff2ed3421434e55989a9b866300898fd94351c9e15f5 +size 503744 diff --git a/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0180_Local_0002.mp4 b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0180_Local_0002.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..ae174cb98d0e3bf8d21e2cb0445d6e9c3d29d3ce --- /dev/null +++ b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0180_Local_0002.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:05c9a1fa7260147ac5a670b76f92b296fc164a60d8de9258bd012d055cfa4c11 +size 452475 diff --git a/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/ckpt/args.json b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/ckpt/args.json new file mode 100644 index 0000000000000000000000000000000000000000..e9bdbec3e5938a97b111ee250a45e503b3d4b26d --- /dev/null +++ b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/ckpt/args.json @@ -0,0 +1,242 @@ +{ + "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" + ], + "com_x_mul": [ + 1.0, + 2.0, + 1.0 + ], + "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, + "desc_prompt": "base.txt", + "design_device": "cpu", + "design_loss_coeffs": [ + 0.1, + 0.1, + 1e-06, + 0.1 + ], + "design_loss_types": [ + "FingerPenLoss", + "SelfFingerPenLoss", + "CLIPLoss", + "AngleLoss" + ], + "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 + ], + "layout_config_file": "hand.json", + "load_args": null, + "load_controller": null, + "load_designer": null, + "load_rl_controller": null, + "log_every_iter": 1, + "log_reward": false, + "loss_coefs": [ + 0.001, + 0.0002, + 1.0 + ], + "loss_landscape_vbr_grid_index": [ + 0, + 0, + 0 + ], + "loss_landscape_vbr_n_trials": 10, + "loss_landscape_vbr_trial_type": "geometry", + "loss_landscape_vbr_value_range": [ + 0.0, + 1.0 + ], + "loss_types": [ + "ObjectBalancedLoss", + "ContactLoss", + "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": "objects_set_a.json", + "optimize_controller": true, + "optimize_design_types": [ + "geometry", + "softness_E", + "softness_v", + "suction_val" + ], + "optimize_designer": true, + "out_dir": "./logs/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/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 + ], + "viewpoint": [ + -1.0, + -0.25, + -0.1 + ], + "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 + ] +} \ No newline at end of file diff --git a/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/ckpt/env_config.yaml b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/ckpt/env_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..06709cfa16326e84350be5a02d28231f8ad1c0d7 --- /dev/null +++ b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/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: 45 + 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 diff --git a/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/geometry_sampling_0_iter_0_batch_0.ply b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/geometry_sampling_0_iter_0_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..efdcf5b400dfb6d90f07797532b891ba7329f831 Binary files /dev/null and b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/geometry_sampling_0_iter_0_batch_0.ply differ diff --git a/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/geometry_sampling_0_iter_104_batch_0.ply b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/geometry_sampling_0_iter_104_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..0ea376c8755acbe7660d99f865c141dcd4a173e7 Binary files /dev/null and b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/geometry_sampling_0_iter_104_batch_0.ply differ diff --git a/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/geometry_sampling_0_iter_112_batch_0.ply b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/geometry_sampling_0_iter_112_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..6a40926eab1383199787c0e2f534b5bf1f74a923 Binary files /dev/null and b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/geometry_sampling_0_iter_112_batch_0.ply differ diff --git a/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/geometry_sampling_0_iter_120_batch_0.ply b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/geometry_sampling_0_iter_120_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..8d22d0320654db812387b42855ab4e75c5d312c3 Binary files /dev/null and b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/geometry_sampling_0_iter_120_batch_0.ply differ diff --git a/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/geometry_sampling_0_iter_128_batch_0.ply b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/geometry_sampling_0_iter_128_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..9c707cfb78ab54c22b153b499a260c0c3d7b5439 Binary files /dev/null and b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/geometry_sampling_0_iter_128_batch_0.ply differ diff --git a/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/geometry_sampling_0_iter_136_batch_0.ply b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/geometry_sampling_0_iter_136_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..322318cd89ee581f4222a2d94ccc071171701321 Binary files /dev/null and b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/geometry_sampling_0_iter_136_batch_0.ply differ diff --git a/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/geometry_sampling_0_iter_144_batch_0.ply b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/geometry_sampling_0_iter_144_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..f2fd20b28098d57c0e58c1d5e99f1a468d6bdfc9 Binary files /dev/null and b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/geometry_sampling_0_iter_144_batch_0.ply differ diff --git a/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/geometry_sampling_0_iter_152_batch_0.ply b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/geometry_sampling_0_iter_152_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..8ef17c10b66b680d8bfa30e7f0326c9453f10caf Binary files /dev/null and b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/geometry_sampling_0_iter_152_batch_0.ply differ diff --git a/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/geometry_sampling_0_iter_160_batch_0.ply b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/geometry_sampling_0_iter_160_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..4da6f0993a7652705e3abbb20cb456b5cfc9bce6 Binary files /dev/null and b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/geometry_sampling_0_iter_160_batch_0.ply differ diff --git a/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/geometry_sampling_0_iter_168_batch_0.ply b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/geometry_sampling_0_iter_168_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..0d1520c721a716b8a729cfddf15b5f1eff796b62 Binary files /dev/null and b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/geometry_sampling_0_iter_168_batch_0.ply differ diff --git a/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/geometry_sampling_0_iter_16_batch_0.ply b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/geometry_sampling_0_iter_16_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..9b07b62c6fc3e0f05449f5806b481b2aaa8fe6a6 Binary files /dev/null and b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/geometry_sampling_0_iter_16_batch_0.ply differ diff --git a/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/geometry_sampling_0_iter_176_batch_0.ply b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/geometry_sampling_0_iter_176_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..5b1dd0b893e6b1bc0590854b5a90340c17dc5482 Binary files /dev/null and b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/geometry_sampling_0_iter_176_batch_0.ply differ diff --git a/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/geometry_sampling_0_iter_184_batch_0.ply b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/geometry_sampling_0_iter_184_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..e3705af88a4363d05c77f12c8ffce5bf172c89b3 Binary files /dev/null and b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/geometry_sampling_0_iter_184_batch_0.ply differ diff --git a/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/geometry_sampling_0_iter_24_batch_0.ply b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/geometry_sampling_0_iter_24_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..d8cea5b1e6bdaaa38be1415e15a5b66dca91e6a0 Binary files /dev/null and b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/geometry_sampling_0_iter_24_batch_0.ply differ diff --git a/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/geometry_sampling_0_iter_32_batch_0.ply b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/geometry_sampling_0_iter_32_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..3f2bdaabaaaf2ac5395c4052af9f9ad84b58561d Binary files /dev/null and b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/geometry_sampling_0_iter_32_batch_0.ply differ diff --git a/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/geometry_sampling_0_iter_40_batch_0.ply b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/geometry_sampling_0_iter_40_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..862e05e9213c662a684885bbc0dedb69c0cd10ba Binary files /dev/null and b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/geometry_sampling_0_iter_40_batch_0.ply differ diff --git a/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/geometry_sampling_0_iter_48_batch_0.ply b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/geometry_sampling_0_iter_48_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..b504e7b8f6ce077f07d2b4345f7a0b9d14786e63 Binary files /dev/null and b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/geometry_sampling_0_iter_48_batch_0.ply differ diff --git a/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/geometry_sampling_0_iter_56_batch_0.ply b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/geometry_sampling_0_iter_56_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..2c261bcf776e1a3e392b5bd73153c090abcfea8d Binary files /dev/null and b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/geometry_sampling_0_iter_56_batch_0.ply differ diff --git a/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/geometry_sampling_0_iter_64_batch_0.ply b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/geometry_sampling_0_iter_64_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..8f6349fc4c008b41f49f392dc298823fd13ffae8 Binary files /dev/null and b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/geometry_sampling_0_iter_64_batch_0.ply differ diff --git a/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/geometry_sampling_0_iter_72_batch_0.ply b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/geometry_sampling_0_iter_72_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..fd609c5ce4a05c618de5204b912c7cdcc6f53c41 Binary files /dev/null and b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/geometry_sampling_0_iter_72_batch_0.ply differ diff --git a/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/geometry_sampling_0_iter_80_batch_0.ply b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/geometry_sampling_0_iter_80_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..c033893d8b3897a16b056ee970eeba7df3a00f8a Binary files /dev/null and b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/geometry_sampling_0_iter_80_batch_0.ply differ diff --git a/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/geometry_sampling_0_iter_88_batch_0.ply b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/geometry_sampling_0_iter_88_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..ba0ee28bb5c5314f103f6c60606380b92e807a22 Binary files /dev/null and b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/geometry_sampling_0_iter_88_batch_0.ply differ diff --git a/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/geometry_sampling_0_iter_8_batch_0.ply b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/geometry_sampling_0_iter_8_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..0fddf3f34e041a136a3a76a234d7e1291680496d Binary files /dev/null and b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/geometry_sampling_0_iter_8_batch_0.ply differ diff --git a/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/geometry_sampling_0_iter_96_batch_0.ply b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/geometry_sampling_0_iter_96_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..273b8086f83b350561133b4f4bf864f5953cfa75 Binary files /dev/null and b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/geometry_sampling_0_iter_96_batch_0.ply differ diff --git a/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/gripper_batch_-1.npz b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/gripper_batch_-1.npz new file mode 100644 index 0000000000000000000000000000000000000000..36e70e3e9d7c9e4b3e36e865da2b6c93f48db86a --- /dev/null +++ b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/gripper_batch_-1.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ed0c344fe606ae9533398dc87e53139555e4466862e8bdb19aa12a8135f760d1 +size 2908 diff --git a/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_0_batch_0.ply b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_0_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..6f7318aa406a6bca2c7df1266e4482124e4444d8 Binary files /dev/null and b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_0_batch_0.ply differ diff --git a/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_104_batch_0.ply b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_104_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..37f4e97be27a45dcd8e0ab6529ac262a4ad3a268 --- /dev/null +++ b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_104_batch_0.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ec272685533f2fd542a72dd8e09ec54bc7f95f728375a1ec02c107c4ec73e052 +size 131205 diff --git a/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_112_batch_0.ply b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_112_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..2d39a0185e3f6f86f1bd248c42120ab2253b4caf --- /dev/null +++ b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_112_batch_0.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:aca94d5e821bd83956e55a3d98f1470fb780cb8ee801d3db82416870e262a1df +size 140507 diff --git a/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_120_batch_0.ply b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_120_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..732f4de54b56970f6c7dea520a30489456cf3007 --- /dev/null +++ b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_120_batch_0.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ac814ecdfa3f2d14b70950b2d07195eea2de66cd8be83302eab6de0a9b74457e +size 156925 diff --git a/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_128_batch_0.ply b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_128_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..3c6cee5683465bb1f98d7a2058faef14ad8eccae --- /dev/null +++ b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_128_batch_0.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b37652bfd5115c198a0b85571436ed7d8854a3badded118112c8fd2ef14a118a +size 164717 diff --git a/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_136_batch_0.ply b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_136_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..82d6d92d9c3c60eafc42a7ef810cd4b8aa43ca4f --- /dev/null +++ b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_136_batch_0.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e16dca1d5d7f7dab385f3b19d5df7a62f362e15f47c11ef5dfa96cae0349cede +size 163197 diff --git a/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_144_batch_0.ply b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_144_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..eb45a7c0571d6fd66f46c7805ec1c861566533f1 --- /dev/null +++ b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_144_batch_0.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e1bbbee351bad211778c3c2134315bb5fdaa74403fd9a67e867dd8c684108b1e +size 159181 diff --git a/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_152_batch_0.ply b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_152_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..94134b5d3172bfc946f7665a3b4c647bde428a28 --- /dev/null +++ b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_152_batch_0.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4b9d7bb77838f4416d82291535cafd5b69b10a6a04eed888345bcc083f3592b0 +size 166869 diff --git a/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_160_batch_0.ply b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_160_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..fe0a4bfbd0b196c7d93660f9a4cb0694ded05d64 --- /dev/null +++ b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_160_batch_0.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9f41e44cf60246bb98f26f4a2a0b998f8c717739606483ec5c1a6c65140af2e2 +size 167369 diff --git a/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_168_batch_0.ply b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_168_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..459143ca57d3eb81b87a9ce2e3f771e1bc5b5b82 --- /dev/null +++ b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_168_batch_0.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6d8bf9ccae2b6d956f4f59fa0f18945c24917e368f9d8532692c698e11841300 +size 167273 diff --git a/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_16_batch_0.ply b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_16_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..bd5ad27dcd41925bf176ae6e45967f2dc3c0d63a --- /dev/null +++ b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_16_batch_0.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f63f0fb55c153ef4f8fb0233a6926d34fbf83245f92b7f6e08f8c776dbfdc6bd +size 103069 diff --git a/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_176_batch_0.ply b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_176_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..c9b87794cc5c603e554dbff0839b379bca57ede4 --- /dev/null +++ b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_176_batch_0.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e74d8885da18252ef3022302c196cfb196e4be0654dd9c6c8a28ac309e50222c +size 154813 diff --git a/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_184_batch_0.ply b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_184_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..be2c7cf076ff61adb7058e04907f0bb39ab025f2 --- /dev/null +++ b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_184_batch_0.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ec66ce171ae1c9cf0091fd4789470686f9035afa28b3131f77f8cf08558772fa +size 165099 diff --git a/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_24_batch_0.ply b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_24_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..3e42071c7588c1cb6836bf8fd08fed06b5a68e8e --- /dev/null +++ b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_24_batch_0.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4529247cf08ffaaa6cd47568e3db0b2347c07742de2dcb0bafb0cae6ebaef670 +size 105775 diff --git a/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_32_batch_0.ply b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_32_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..c648ef80446b25bfe099c5d7c85fef23151de5c6 --- /dev/null +++ b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_32_batch_0.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ccb6410c5ef8bec3ae203ad7c43fde805dc1cb5c7fd579d330b1e26813817262 +size 108071 diff --git a/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_40_batch_0.ply b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_40_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..232e7313dbc8b5ce48f714670e8213b0644089bc --- /dev/null +++ b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_40_batch_0.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:41cb9e5e3f4bf184423917a6338cf6a9f9e50bd79e8dbe01ede5688aac1581c8 +size 101805 diff --git a/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_48_batch_0.ply b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_48_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..7c7fea07823d32d699f1ab37491caeef642453fa --- /dev/null +++ b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_48_batch_0.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:88dcf9c7c6d362d484c6a82ee45fccc2ee83baac9a47fd4d1bc04ae63ad56e4b +size 107679 diff --git a/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_56_batch_0.ply b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_56_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..5bb9b662d01cf8209d36f21d5c105956e1bb41fe --- /dev/null +++ b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_56_batch_0.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9fb82c78dd35648b8287af4af903d2bb50db38326e5b9adae8793ca00d29b142 +size 116057 diff --git a/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_64_batch_0.ply b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_64_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..f12e6953fd79e750c5df07027b98caf97ef6567a --- /dev/null +++ b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_64_batch_0.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f1e3ed7615ba7fefc4f1e0dd82aea9f63fb4edb283ab07fb0581432a2ee55c1f +size 107947 diff --git a/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_72_batch_0.ply b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_72_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..ef354108aaaf9955a2f53b6c5878a26fb3d7c46d --- /dev/null +++ b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_72_batch_0.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c8bfacad660edb0533dcf01a1d35937fee405625e8b2a9feef262017e84aaa51 +size 103535 diff --git a/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_80_batch_0.ply b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_80_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..20c762b3cd7c30a398bc73abd9b9d7902b8ba698 --- /dev/null +++ b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_80_batch_0.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:05bec8ca5b3da80d9aa24302ae2d3d057153e64874c0b2b070b3309b3bff139f +size 109927 diff --git a/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_88_batch_0.ply b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_88_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..3430de491003035c9bdc99a9f597e2388ee41b72 --- /dev/null +++ b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_88_batch_0.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:74f16bb05eb574ce0960a0c727cf9580349aa61515c1dbe8d63d549b26e49c5a +size 117647 diff --git a/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_8_batch_0.ply b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_8_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..98edd60c5e8c99f5083a4f1d50f1ea3357286063 Binary files /dev/null and b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_8_batch_0.ply differ diff --git a/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_96_batch_0.ply b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_96_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..cf4cfdfa8b8c92a4ec8cf1a4dca1b42aa15851dc --- /dev/null +++ b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_96_batch_0.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1cf81555fe10e1d3cff69030fd35289fcd8ef48c31d779e1163f6047ae55e169 +size 116911 diff --git a/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/training.log b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/training.log new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/training_log.csv b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/training_log.csv new file mode 100644 index 0000000000000000000000000000000000000000..3fc034cfbada6d70e3a15e930870aaeb1c9e8960 --- /dev/null +++ b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/training_log.csv @@ -0,0 +1 @@ +phase,sampling_step,local_iter,batch_idx,sap_epoch,sap_loss,sap_inputs_grad_norm,sap_lr,sap_num_points,softzoo_loss,softzoo_grad_norm,softzoo_reward,softzoo_mean_loss,softzoo_scaled_mean_grad_norm,loss,grad_norm,note diff --git a/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/viz_gripper_dir/gripper_idx0_design_0.008881494402885437_sim_0.0006588529344507719.ply b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/viz_gripper_dir/gripper_idx0_design_0.008881494402885437_sim_0.0006588529344507719.ply new file mode 100644 index 0000000000000000000000000000000000000000..f1c293077f5a4810704d91b2a02335fcb3c15750 --- /dev/null +++ b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/viz_gripper_dir/gripper_idx0_design_0.008881494402885437_sim_0.0006588529344507719.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:19672d06375902efc9f8a011c5cbf52a9ddcde9d0a75e8cb35576cfd31885225 +size 960706 diff --git a/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/viz_gripper_dir/gripper_idx108_design_0.0025677985977381468_sim_0.0006492739281940918.ply b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/viz_gripper_dir/gripper_idx108_design_0.0025677985977381468_sim_0.0006492739281940918.ply new file mode 100644 index 0000000000000000000000000000000000000000..913f3bcd61a08771e30b15bcc19093cbae84cff7 --- /dev/null +++ b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/viz_gripper_dir/gripper_idx108_design_0.0025677985977381468_sim_0.0006492739281940918.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5e98c06776c9e7593bb029ad195883914fe4e1dcb48e5f481cddf7564ea35bc6 +size 685090 diff --git a/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/viz_gripper_dir/gripper_idx120_design_0.001693162601441145_sim_0.0006511623295171359.ply b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/viz_gripper_dir/gripper_idx120_design_0.001693162601441145_sim_0.0006511623295171359.ply new file mode 100644 index 0000000000000000000000000000000000000000..d7d27997db6512859598d8d102b25b30f77268a3 --- /dev/null +++ b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/viz_gripper_dir/gripper_idx120_design_0.001693162601441145_sim_0.0006511623295171359.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4c2b43a50bd0f686afc6c36f33644ead3c7906f8f7bf9b8a470bb0ff5d237b6e +size 719542 diff --git a/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/viz_gripper_dir/gripper_idx12_design_0.00875162985175848_sim_0.0006582465779694556.ply b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/viz_gripper_dir/gripper_idx12_design_0.00875162985175848_sim_0.0006582465779694556.ply new file mode 100644 index 0000000000000000000000000000000000000000..2dc891487401093cac2c30a1ade2201e74d317d5 --- /dev/null +++ b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/viz_gripper_dir/gripper_idx12_design_0.00875162985175848_sim_0.0006582465779694556.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:430e528a21a248dc7ffd934675631047a2e26eae223c4e62c00f74a233b3ad14 +size 960706 diff --git a/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/viz_gripper_dir/gripper_idx132_design_0.0012613439466804266_sim_0.000657885490175401.ply b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/viz_gripper_dir/gripper_idx132_design_0.0012613439466804266_sim_0.000657885490175401.ply new file mode 100644 index 0000000000000000000000000000000000000000..68ff98587257ef2c16a781e784b6f339d584206a --- /dev/null +++ b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/viz_gripper_dir/gripper_idx132_design_0.0012613439466804266_sim_0.000657885490175401.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d74958509e1bad5aa6cbb6225a1304fd9c4b7e0a7845f864bf40e8c6e733895a +size 719542 diff --git a/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/viz_gripper_dir/gripper_idx144_design_0.0012523953337222338_sim_0.0006596020943954517.ply b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/viz_gripper_dir/gripper_idx144_design_0.0012523953337222338_sim_0.0006596020943954517.ply new file mode 100644 index 0000000000000000000000000000000000000000..c357e847d5580d527b797465bcbbf45c20f26b66 --- /dev/null +++ b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/viz_gripper_dir/gripper_idx144_design_0.0012523953337222338_sim_0.0006596020943954517.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9810bff52e28390d2764ec27c6d6fdecd37b7110ac82e56eb7a7d0d8bd5d5c49 +size 719542 diff --git a/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/viz_gripper_dir/gripper_idx156_design_0.0011470739264041185_sim_0.0006596264691106987.ply b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/viz_gripper_dir/gripper_idx156_design_0.0011470739264041185_sim_0.0006596264691106987.ply new file mode 100644 index 0000000000000000000000000000000000000000..2e33d2433580d9662c94841a999450b13f110894 --- /dev/null +++ b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/viz_gripper_dir/gripper_idx156_design_0.0011470739264041185_sim_0.0006596264691106987.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ed2751957845408e30ee584e1aacd30df1fbf203e018124f2af1dc422195d840 +size 719542 diff --git a/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/viz_gripper_dir/gripper_idx168_design_0.0010819857707247138_sim_0.000659586449886953.ply b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/viz_gripper_dir/gripper_idx168_design_0.0010819857707247138_sim_0.000659586449886953.ply new file mode 100644 index 0000000000000000000000000000000000000000..e3d9b787ba79eb22d446329973b128852324a47e --- /dev/null +++ b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/viz_gripper_dir/gripper_idx168_design_0.0010819857707247138_sim_0.000659586449886953.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:027d008d933cbadf0e5e8a1f1c65067da566beae4569a40f90ab8486dc32da7f +size 719542 diff --git a/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/viz_gripper_dir/gripper_idx180_design_0.0010445148218423128_sim_0.000659518862985813.ply b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/viz_gripper_dir/gripper_idx180_design_0.0010445148218423128_sim_0.000659518862985813.ply new file mode 100644 index 0000000000000000000000000000000000000000..7d516d7b5bfd48bc2611a5d26546d32b0ae18a59 --- /dev/null +++ b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/viz_gripper_dir/gripper_idx180_design_0.0010445148218423128_sim_0.000659518862985813.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ff9a95627e8dbb2b44795cbac034eb53c30f3ff663c97962b2e336f86df52d8b +size 719542 diff --git a/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/viz_gripper_dir/gripper_idx24_design_0.008538839407265186_sim_0.0006577322198497807.ply b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/viz_gripper_dir/gripper_idx24_design_0.008538839407265186_sim_0.0006577322198497807.ply new file mode 100644 index 0000000000000000000000000000000000000000..b393f2e1c113a8b2d23b890514d3d9ddf9748bc8 --- /dev/null +++ b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/viz_gripper_dir/gripper_idx24_design_0.008538839407265186_sim_0.0006577322198497807.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ed57e60818f29990bf37d485ccca4fa38073a45dccd01336a991a31f90fec2fd +size 960706 diff --git a/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/viz_gripper_dir/gripper_idx36_design_0.007361982017755508_sim_0.0006588382317725755.ply b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/viz_gripper_dir/gripper_idx36_design_0.007361982017755508_sim_0.0006588382317725755.ply new file mode 100644 index 0000000000000000000000000000000000000000..196ac28a1cf5dcb64addfa8428d18f89bbb370fd --- /dev/null +++ b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/viz_gripper_dir/gripper_idx36_design_0.007361982017755508_sim_0.0006588382317725755.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d4ff5592dabb46300ddcbad7cad4559c3a875891a81634138cf47a1529e7612c +size 960706 diff --git a/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/viz_gripper_dir/gripper_idx48_design_0.005962052382528782_sim_0.0006573703182281125.ply b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/viz_gripper_dir/gripper_idx48_design_0.005962052382528782_sim_0.0006573703182281125.ply new file mode 100644 index 0000000000000000000000000000000000000000..5d7a43f1ef8662d23a0553788300065b396985c1 --- /dev/null +++ b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/viz_gripper_dir/gripper_idx48_design_0.005962052382528782_sim_0.0006573703182281125.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:97eac19a5f5134d3ba1bf17302db711c4ba87ea65968f683f0e2533d1f16b5bb +size 926254 diff --git a/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/viz_gripper_dir/gripper_idx60_design_0.004929875954985619_sim_0.0006563236399630005.ply b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/viz_gripper_dir/gripper_idx60_design_0.004929875954985619_sim_0.0006563236399630005.ply new file mode 100644 index 0000000000000000000000000000000000000000..971d4c87e2f51ff5db224e2bc07500371ffa08f2 --- /dev/null +++ b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/viz_gripper_dir/gripper_idx60_design_0.004929875954985619_sim_0.0006563236399630005.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d4069cdeee818f001245e3bf2b00cc640a25ebb97586816b8369d281055e8d41 +size 719542 diff --git a/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/viz_gripper_dir/gripper_idx72_design_0.003790108719840646_sim_0.0006507755430078241.ply b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/viz_gripper_dir/gripper_idx72_design_0.003790108719840646_sim_0.0006507755430078241.ply new file mode 100644 index 0000000000000000000000000000000000000000..1d1af0b9168260071759c964e31d6c7740f8b3b8 --- /dev/null +++ b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/viz_gripper_dir/gripper_idx72_design_0.003790108719840646_sim_0.0006507755430078241.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b5423c8489149c85a3b88fb1ff17b3851b58054383991401d0b2f29092ffd998 +size 685090 diff --git a/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/viz_gripper_dir/gripper_idx84_design_0.003142977599054575_sim_0.0006499426822131402.ply b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/viz_gripper_dir/gripper_idx84_design_0.003142977599054575_sim_0.0006499426822131402.ply new file mode 100644 index 0000000000000000000000000000000000000000..efa5bd0af4e4b1a3d7be95aa7599236bc6149a1b --- /dev/null +++ b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/viz_gripper_dir/gripper_idx84_design_0.003142977599054575_sim_0.0006499426822131402.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b8480ca88fb6a442268ef15c34c269942c7f3d25d69aecccaf497d0783f99f67 +size 685090 diff --git a/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/viz_gripper_dir/gripper_idx96_design_0.002744237193837762_sim_0.0006267022743476347.ply b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/viz_gripper_dir/gripper_idx96_design_0.002744237193837762_sim_0.0006267022743476347.ply new file mode 100644 index 0000000000000000000000000000000000000000..6bf7832b8e94ed8e1991a373b511644a486f5588 --- /dev/null +++ b/20260113_190422_prompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/viz_gripper_dir/gripper_idx96_design_0.002744237193837762_sim_0.0006267022743476347.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:265847e3285b07807247091d76177d6bf43eea1badc6ffa60e42ed4828875ea9 +size 685090 diff --git a/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/cmd_config.yaml b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/cmd_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a4135c4a0d52f82fdb2f4e69438c8948199da334 --- /dev/null +++ b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/cmd_config.yaml @@ -0,0 +1,34 @@ +accum_grad_sim: 3 +desc_prompt: base.txt +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: noprompt_angled_hand_geo3e-2_topo3e-2_accum3 +fixed_v_file: gripping_5_HTP.json +geometry_lr: 0.03 +grad_clipping: 10.0 +gripper_dim: 12 +gumbel: false +init_emb_path: asset/embeddings/hand_stump_1_hard_09_3_soft_03.npz +layout_config_file: hand.json +max_epoch: 1200 +min_delta: 0.0 +monitor_metric: eval/sim_loss +num_fingers: 5 +num_segments: 10 +object_set_file: objects_set_a.json +optim_config_path: config/optimization_config/hand2/optim_no_prompt.yaml +patience: 10 +seed: 569 +stop_mode: min +topo_lr: 0.03 +viewpoint: +- -1.0 +- -0.25 +- -0.1 +zero_grad_dims: +- 8 +- 9 +- 10 +- 11 diff --git a/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/config.yaml b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..80caadab638b1cf985999e68a10ec6859c124b25 --- /dev/null +++ b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/config.yaml @@ -0,0 +1,66 @@ +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: objects_set_a.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 + layout_config_file: hand.json + desc_prompt: base.txt + viewpoint: [-1.,-0.25,-0.1] + 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: [1.e-3,2.e-4,1.0] + obj_x_mul: [0.,1.,0.] + com_x_mul: [1.,2.,1.] + obj_particle_id: 2 + + design_loss_types: ['FingerPenLoss','SelfFingerPenLoss','AngleLoss'] + design_loss_coeffs: [0.1,0.1,0.1] + + 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 diff --git a/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/embeddings/gripper_idx0_design_0.008880730718374252_sim_0.0006588529560004172.npz b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/embeddings/gripper_idx0_design_0.008880730718374252_sim_0.0006588529560004172.npz new file mode 100644 index 0000000000000000000000000000000000000000..b11a0004baf9ef45729eeb5506a32b762cfd6046 --- /dev/null +++ b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/embeddings/gripper_idx0_design_0.008880730718374252_sim_0.0006588529560004172.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cac648a75062a1e289a3ad69246bafbf9d5e86cc4092b57751eafe9a5e99f667 +size 1240 diff --git a/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/embeddings/gripper_idx108_design_0.0015005662571638823_sim_0.0006564186160621895.npz b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/embeddings/gripper_idx108_design_0.0015005662571638823_sim_0.0006564186160621895.npz new file mode 100644 index 0000000000000000000000000000000000000000..732f878995b8bc7ce058014f9896f04296524220 --- /dev/null +++ b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/embeddings/gripper_idx108_design_0.0015005662571638823_sim_0.0006564186160621895.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fa1fe269338ee4a8c5877cdc8085514c25ac6df36b5b7da9cd574a8efd849827 +size 2920 diff --git a/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/embeddings/gripper_idx12_design_0.008762681856751442_sim_0.0006595052530789456.npz b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/embeddings/gripper_idx12_design_0.008762681856751442_sim_0.0006595052530789456.npz new file mode 100644 index 0000000000000000000000000000000000000000..85a45ee09231d6148036db8fd0e5c2e521fb7544 --- /dev/null +++ b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/embeddings/gripper_idx12_design_0.008762681856751442_sim_0.0006595052530789456.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4812e54d90a51b5a7bca13e7ba10c6a23c2c868109f331069f57ca1fe0f9b799 +size 2728 diff --git a/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/embeddings/gripper_idx24_design_0.008066898211836815_sim_0.0006587433082652647.npz b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/embeddings/gripper_idx24_design_0.008066898211836815_sim_0.0006587433082652647.npz new file mode 100644 index 0000000000000000000000000000000000000000..74e0d6cf49cd1b328daf3fb53d9f5ae5d23866b1 --- /dev/null +++ b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/embeddings/gripper_idx24_design_0.008066898211836815_sim_0.0006587433082652647.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e122c36b47debef738e649b87a73dd0ca751b71486fc7692c19458b043adc138 +size 2841 diff --git a/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/embeddings/gripper_idx36_design_0.006384237669408321_sim_0.0006573268879404688.npz b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/embeddings/gripper_idx36_design_0.006384237669408321_sim_0.0006573268879404688.npz new file mode 100644 index 0000000000000000000000000000000000000000..abb24b6816ddbde2e9f6b526afaac222147ef3b3 --- /dev/null +++ b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/embeddings/gripper_idx36_design_0.006384237669408321_sim_0.0006573268879404688.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:68087b9b49dfdba87a28eb66c8d1e2260d7b9ef4f2b099eb0393afb239bb226d +size 2873 diff --git a/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/embeddings/gripper_idx48_design_0.0050232019275426865_sim_0.0006276383852566573.npz b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/embeddings/gripper_idx48_design_0.0050232019275426865_sim_0.0006276383852566573.npz new file mode 100644 index 0000000000000000000000000000000000000000..1938c43905a5329cfdbeda6f83af919af9fda19d --- /dev/null +++ b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/embeddings/gripper_idx48_design_0.0050232019275426865_sim_0.0006276383852566573.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b59ea505c97e55342b6f9dd3c7ab00fb6b7fa6736ed35224d2d2057619d6dcca +size 2886 diff --git a/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/embeddings/gripper_idx60_design_0.00339437834918499_sim_0.0006571957438414656.npz b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/embeddings/gripper_idx60_design_0.00339437834918499_sim_0.0006571957438414656.npz new file mode 100644 index 0000000000000000000000000000000000000000..00a4c15a2dc936859ea7ad69034071ab5af70aaa --- /dev/null +++ b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/embeddings/gripper_idx60_design_0.00339437834918499_sim_0.0006571957438414656.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dd8ace3ed528f912e844ed3f91a2d60ffeb5ec80a95c0ea74f88d36e10823b60 +size 2899 diff --git a/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/embeddings/gripper_idx72_design_0.002619439037516713_sim_0.0006559643231077886.npz b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/embeddings/gripper_idx72_design_0.002619439037516713_sim_0.0006559643231077886.npz new file mode 100644 index 0000000000000000000000000000000000000000..e76b937b6345cc19936069628c190d23b9ba38cd --- /dev/null +++ b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/embeddings/gripper_idx72_design_0.002619439037516713_sim_0.0006559643231077886.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f7c54fa3d61d5ab9e93d6ed2337b8c46197b4713e944da7a77231c2f1e6001dc +size 2897 diff --git a/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/embeddings/gripper_idx84_design_0.002020806772634387_sim_0.0006548946430903703.npz b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/embeddings/gripper_idx84_design_0.002020806772634387_sim_0.0006548946430903703.npz new file mode 100644 index 0000000000000000000000000000000000000000..74d291fb99a7fb456a1c9e262a24a97e54f58a42 --- /dev/null +++ b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/embeddings/gripper_idx84_design_0.002020806772634387_sim_0.0006548946430903703.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bb865dc9d253fe8e99d7ccfcbe1db9cd425fe48e2218999fd17fd3272a685513 +size 2900 diff --git a/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/embeddings/gripper_idx96_design_0.0018633464351296425_sim_0.0006572044461738149.npz b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/embeddings/gripper_idx96_design_0.0018633464351296425_sim_0.0006572044461738149.npz new file mode 100644 index 0000000000000000000000000000000000000000..9ec8ed5d52cd60d5d5a95d61fd059babf3ac4bce --- /dev/null +++ b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/embeddings/gripper_idx96_design_0.0018633464351296425_sim_0.0006572044461738149.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4ea57bc0c0ff037bf13014467283633f14c0acc90867da1d78350c3a798094fb +size 2903 diff --git a/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0000_Local_0000.mp4 b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0000_Local_0000.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..4bc9293c95eb97f1780c16e1efb50590da6b8987 --- /dev/null +++ b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0000_Local_0000.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d7ca0d2f2f4bfc3314b1f6ada814607b6082c008b17ce2d3f2dc4b658bb58b5d +size 437273 diff --git a/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0000_Local_0001.mp4 b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0000_Local_0001.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..b416710b7061dc0719d2b368c5b8c54f89e30708 --- /dev/null +++ b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0000_Local_0001.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d5dbec3ba36b351fa5b923f7d94bf2e2b09d84b7f08c8d9fe3c4dc0aef68940b +size 503827 diff --git a/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0000_Local_0002.mp4 b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0000_Local_0002.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..253514b61a5891897d158ab61645331d80e8d79e --- /dev/null +++ b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0000_Local_0002.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5f412f21c5d8c178e7601ce094a278e8a51606548cd218482401d9b4462b515b +size 457867 diff --git a/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0012_Local_0000.mp4 b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0012_Local_0000.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..a327e231a74a2a818d0f81512e1bbbd444f16b00 --- /dev/null +++ b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0012_Local_0000.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c702ae031b11b3ac170d65eaee0eb9574686160f06636630f2becb72fc854b2e +size 435190 diff --git a/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0012_Local_0001.mp4 b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0012_Local_0001.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..90d0d3def9446bb2e662d70bd34bbae6362503a0 --- /dev/null +++ b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0012_Local_0001.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e1cd337da219f82d07821835dc20fa77610ac8d70b1715a8236b836c703c4e8d +size 503456 diff --git a/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0012_Local_0002.mp4 b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0012_Local_0002.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..11ec38373dbd569a041b7252f0386d5ef20540e2 --- /dev/null +++ b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0012_Local_0002.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:53426b78808abf2d9c0beddc5576b95b18fb9c653c0dfd2a96674b47c5ff720d +size 455739 diff --git a/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0024_Local_0000.mp4 b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0024_Local_0000.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..f683e2e8787dd2111718286104e880a5bcd7b00c --- /dev/null +++ b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0024_Local_0000.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6058b7575cf7f4ca07e15640c520f8b8016e68070ce596f211312af6068d7722 +size 436757 diff --git a/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0024_Local_0001.mp4 b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0024_Local_0001.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..176d42d342a0348b4fdb7d7438b3e126c2f162dd --- /dev/null +++ b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0024_Local_0001.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dc59bcbd8cb6a6739eed23fb8bb5c914f343abf66bf0c3b33e605298a8cfddaf +size 500060 diff --git a/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0024_Local_0002.mp4 b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0024_Local_0002.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..41135dbe608a7be2ec6a4ad1779cd21fac0f173d --- /dev/null +++ b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0024_Local_0002.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3c7e8d261663622fbed5755d62d14309dc7a831fd3e8f60d77d0244d40f3d42c +size 459770 diff --git a/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0036_Local_0000.mp4 b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0036_Local_0000.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..5cc2192ba3077c0bea45700c1334dc2cedbf7611 --- /dev/null +++ b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0036_Local_0000.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:62a86dd94dad8a529b4677f7c86e2285ef24d81fab022489c7b80d874b854f9e +size 435379 diff --git a/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0036_Local_0001.mp4 b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0036_Local_0001.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..f58bc3458a01108331e39cfdb54f1bf678b38b26 --- /dev/null +++ b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0036_Local_0001.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1e87e7536d3ef34c76ed39b97abc830d01e3b571e9a6522b53e5a4c4b7237f30 +size 504827 diff --git a/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0036_Local_0002.mp4 b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0036_Local_0002.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..c27f9703d818c0b755c1e6428edf37fea5c4f193 --- /dev/null +++ b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0036_Local_0002.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:25df69ceee422368794ffb7ce234b7f5a11e968c52ae052e911bc658ec939399 +size 454762 diff --git a/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0048_Local_0000.mp4 b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0048_Local_0000.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..9b7d0aab358179d67eecbd69f44d940582ac923f --- /dev/null +++ b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0048_Local_0000.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5e57fc7a389e10c9dce41ab1e90a952f97e21ec7501bf7f1938b7f5e02719867 +size 436564 diff --git a/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0048_Local_0001.mp4 b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0048_Local_0001.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..2be322509670f27f2e65973d0ea95df279bf5b61 --- /dev/null +++ b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0048_Local_0001.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:50a216d3f840d5f26a310e2309b43c6b18473a8c6b36fd757f234defc871646c +size 511707 diff --git a/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0048_Local_0002.mp4 b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0048_Local_0002.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..0820265d1893d0b0d5e154b5a6366d4ef7094976 --- /dev/null +++ b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0048_Local_0002.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:924fcd4511a0c4821abad9cb87ca555c5708a177c93e032eb5189e92c99af458 +size 458215 diff --git a/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0060_Local_0000.mp4 b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0060_Local_0000.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..560d23550e9f23ad4084ea68dc2f80c64a89c71d --- /dev/null +++ b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0060_Local_0000.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ff6681325a9c2f0538304491b27aeefa98b67a6287a15961f3ddb7b689052061 +size 435814 diff --git a/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0060_Local_0001.mp4 b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0060_Local_0001.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..3150390ca2163785052147d2b1540855faf21349 --- /dev/null +++ b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0060_Local_0001.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6a1f9243ec434a26f37efa6ab2a51ba5943d51e79fe890b69aa0b2a94ab71c11 +size 512717 diff --git a/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0060_Local_0002.mp4 b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0060_Local_0002.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..d6b6452f32569eb8fe7fb3f5107ade85c8a62f34 --- /dev/null +++ b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0060_Local_0002.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ff862ed787a5043e70e90aee5821fac65257aca069dc247e9edee7659f33db54 +size 462186 diff --git a/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0072_Local_0000.mp4 b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0072_Local_0000.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..a6040a1f1d99da586ff4014ebf6fc94a61a2fcc7 --- /dev/null +++ b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0072_Local_0000.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d364ddd02baf7b23e431375b6626d71848337fc9254b1536510873718bbb10f3 +size 437394 diff --git a/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0072_Local_0001.mp4 b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0072_Local_0001.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..f4379798facbb3ee9f7f7095f5d37d1eb3f958ac --- /dev/null +++ b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0072_Local_0001.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:660136d168ae02ea977f1b1e6d0ebcde7af728b5af033acdb451ea13e35403f9 +size 507345 diff --git a/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0072_Local_0002.mp4 b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0072_Local_0002.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..5111a5bb51765bc06543c2e787a6cb73a630d641 --- /dev/null +++ b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0072_Local_0002.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c37d6c52c4c78c1457d13a418584c307d34bec87c027454b846229d1639b862f +size 461623 diff --git a/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0084_Local_0000.mp4 b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0084_Local_0000.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..002463d1db4d809535a6c8ef6d0a3175c6cbb89f --- /dev/null +++ b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0084_Local_0000.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5004f79695918f8e216728689f7b867546c536fae78d3c3eb269e8c1f663429e +size 437300 diff --git a/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0084_Local_0001.mp4 b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0084_Local_0001.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..9844a594af1f032a92ca864f78c77fb6fb15e505 --- /dev/null +++ b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0084_Local_0001.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6266476b352ffd8e6c400fb66fa040eb44f2a1bb84153257b004918929cd078c +size 512577 diff --git a/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0084_Local_0002.mp4 b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0084_Local_0002.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..e73959ff568388d10f12bc70a6118f442eb8f07e --- /dev/null +++ b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0084_Local_0002.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:382c590e69ea1908fe8d6f00aa508f1393949e080b5bc08935448e43877f9fa8 +size 464327 diff --git a/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0096_Local_0000.mp4 b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0096_Local_0000.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..1228b751373a8e12a93dd0397cff23543e9896d5 --- /dev/null +++ b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0096_Local_0000.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c3f3ec021fbfbfd735c311093e0cb067772ad70d7badd91742febd8ddf92b76d +size 436305 diff --git a/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0096_Local_0001.mp4 b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0096_Local_0001.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..27045ff4dd0f3e61f1a8e70cdbd8e4aa2494a819 --- /dev/null +++ b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0096_Local_0001.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:43648645dbac8670522098911a210a219f4f4a9ec98aba351d0a49f14e988d92 +size 512225 diff --git a/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0096_Local_0002.mp4 b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0096_Local_0002.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..22ea88c1d33c6c7f885d7abe1f586692111bf13d --- /dev/null +++ b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0096_Local_0002.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5df81f8e813b482a93dc669fde9876fdfc54ae0750a46a390c16db46d4f8e39f +size 460243 diff --git a/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0108_Local_0000.mp4 b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0108_Local_0000.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..377fac561f1d0d551c58ffaf2a648d69b59c2e59 --- /dev/null +++ b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0108_Local_0000.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c3c575e5928843b24b402b9617916a44dff12754bfe53cac4859b171fd1a03f4 +size 437504 diff --git a/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0108_Local_0001.mp4 b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0108_Local_0001.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..fcf70e296980ba843155378ca6e075f68fa6b1a7 --- /dev/null +++ b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0108_Local_0001.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c4cfc05b6303b0ff20c7053e329e906ceebf13caef4ad75b1351bfc6cac75a4e +size 512324 diff --git a/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0108_Local_0002.mp4 b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0108_Local_0002.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..1886dc40b634d3c6454f372dc45490ced43c5446 --- /dev/null +++ b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0108_Local_0002.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b1adc9bb3d586489045b644ac6adc6f4a2a98092fc21e9728c7ed763e9f6e1f4 +size 465183 diff --git a/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/ckpt/args.json b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/ckpt/args.json new file mode 100644 index 0000000000000000000000000000000000000000..cdc938fc3a88a6ff2136bce30d6d48d7b8b054dc --- /dev/null +++ b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/ckpt/args.json @@ -0,0 +1,240 @@ +{ + "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" + ], + "com_x_mul": [ + 1.0, + 2.0, + 1.0 + ], + "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, + "desc_prompt": "base.txt", + "design_device": "cpu", + "design_loss_coeffs": [ + 0.1, + 0.1, + 0.1 + ], + "design_loss_types": [ + "FingerPenLoss", + "SelfFingerPenLoss", + "AngleLoss" + ], + "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 + ], + "layout_config_file": "hand.json", + "load_args": null, + "load_controller": null, + "load_designer": null, + "load_rl_controller": null, + "log_every_iter": 1, + "log_reward": false, + "loss_coefs": [ + 0.001, + 0.0002, + 1.0 + ], + "loss_landscape_vbr_grid_index": [ + 0, + 0, + 0 + ], + "loss_landscape_vbr_n_trials": 10, + "loss_landscape_vbr_trial_type": "geometry", + "loss_landscape_vbr_value_range": [ + 0.0, + 1.0 + ], + "loss_types": [ + "ObjectBalancedLoss", + "ContactLoss", + "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": "objects_set_a.json", + "optimize_controller": true, + "optimize_design_types": [ + "geometry", + "softness_E", + "softness_v", + "suction_val" + ], + "optimize_designer": true, + "out_dir": "./logs/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/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 + ], + "viewpoint": [ + -1.0, + -0.25, + -0.1 + ], + "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 + ] +} \ No newline at end of file diff --git a/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/ckpt/env_config.yaml b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/ckpt/env_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..06709cfa16326e84350be5a02d28231f8ad1c0d7 --- /dev/null +++ b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/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: 45 + 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 diff --git a/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/geometry_sampling_0_iter_0_batch_0.ply b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/geometry_sampling_0_iter_0_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..b7d89b559b677444bf4f1629fb4d76775f882582 Binary files /dev/null and b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/geometry_sampling_0_iter_0_batch_0.ply differ diff --git a/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/geometry_sampling_0_iter_104_batch_0.ply b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/geometry_sampling_0_iter_104_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..0ca20b872085718192758034ad613f0c639bd974 Binary files /dev/null and b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/geometry_sampling_0_iter_104_batch_0.ply differ diff --git a/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/geometry_sampling_0_iter_16_batch_0.ply b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/geometry_sampling_0_iter_16_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..f62e74297becbd95d5bfeb74bd5e23f09caf852d Binary files /dev/null and b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/geometry_sampling_0_iter_16_batch_0.ply differ diff --git a/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/geometry_sampling_0_iter_24_batch_0.ply b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/geometry_sampling_0_iter_24_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..0e0141f3b975c0d887ac1d17cf8afa6d21082096 Binary files /dev/null and b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/geometry_sampling_0_iter_24_batch_0.ply differ diff --git a/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/geometry_sampling_0_iter_32_batch_0.ply b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/geometry_sampling_0_iter_32_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..7254ec0b5dfa9eadf1c368a1171cb083e4aceeb1 Binary files /dev/null and b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/geometry_sampling_0_iter_32_batch_0.ply differ diff --git a/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/geometry_sampling_0_iter_40_batch_0.ply b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/geometry_sampling_0_iter_40_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..91a7106fdc1e8af9554b2649a031d95effafeec5 Binary files /dev/null and b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/geometry_sampling_0_iter_40_batch_0.ply differ diff --git a/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/geometry_sampling_0_iter_48_batch_0.ply b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/geometry_sampling_0_iter_48_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..7367cee5ff9ba7bfe020e52fb3270dfbb5a33f30 Binary files /dev/null and b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/geometry_sampling_0_iter_48_batch_0.ply differ diff --git a/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/geometry_sampling_0_iter_56_batch_0.ply b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/geometry_sampling_0_iter_56_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..800e063c241429bc2b34d5d0c4e7b984cb558b20 Binary files /dev/null and b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/geometry_sampling_0_iter_56_batch_0.ply differ diff --git a/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/geometry_sampling_0_iter_64_batch_0.ply b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/geometry_sampling_0_iter_64_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..75703dfc16dafeaae7b324410bc456ab15f5d405 Binary files /dev/null and b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/geometry_sampling_0_iter_64_batch_0.ply differ diff --git a/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/geometry_sampling_0_iter_72_batch_0.ply b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/geometry_sampling_0_iter_72_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..85fa3c688b29d0cb25d1827abacb1f836b04fc8e Binary files /dev/null and b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/geometry_sampling_0_iter_72_batch_0.ply differ diff --git a/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/geometry_sampling_0_iter_80_batch_0.ply b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/geometry_sampling_0_iter_80_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..7ade6465b217c28898f4aa3a795a9f8769279405 Binary files /dev/null and b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/geometry_sampling_0_iter_80_batch_0.ply differ diff --git a/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/geometry_sampling_0_iter_88_batch_0.ply b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/geometry_sampling_0_iter_88_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..c0f3fa1560df734e8921f43596fdde501a8e410a Binary files /dev/null and b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/geometry_sampling_0_iter_88_batch_0.ply differ diff --git a/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/geometry_sampling_0_iter_8_batch_0.ply b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/geometry_sampling_0_iter_8_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..4760de21cbf34c5e8c40bee9990a5cdcd3a97533 Binary files /dev/null and b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/geometry_sampling_0_iter_8_batch_0.ply differ diff --git a/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/geometry_sampling_0_iter_96_batch_0.ply b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/geometry_sampling_0_iter_96_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..d39db25890a56767995f4fcc7b5b45c1224ffc03 Binary files /dev/null and b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/geometry_sampling_0_iter_96_batch_0.ply differ diff --git a/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/gripper_batch_-1.npz b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/gripper_batch_-1.npz new file mode 100644 index 0000000000000000000000000000000000000000..732f878995b8bc7ce058014f9896f04296524220 --- /dev/null +++ b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/gripper_batch_-1.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fa1fe269338ee4a8c5877cdc8085514c25ac6df36b5b7da9cd574a8efd849827 +size 2920 diff --git a/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_0_batch_0.ply b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_0_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..6f7318aa406a6bca2c7df1266e4482124e4444d8 Binary files /dev/null and b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_0_batch_0.ply differ diff --git a/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_104_batch_0.ply b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_104_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..fd63ac46615309349c9b3de7e6c460dda9546ff0 Binary files /dev/null and b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_104_batch_0.ply differ diff --git a/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_16_batch_0.ply b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_16_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..c87c1217fd88e8cb6b72c33334169a213720dc0d Binary files /dev/null and b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_16_batch_0.ply differ diff --git a/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_24_batch_0.ply b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_24_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..f4281318867734788889ff312e98d9b8d6390b5f Binary files /dev/null and b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_24_batch_0.ply differ diff --git a/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_32_batch_0.ply b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_32_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..970d83bfdf5aa669754d7dec044ba180732e524e --- /dev/null +++ b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_32_batch_0.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a08f7df78a7434ee4ae74223d867a2e97bd48620d8175ef17f3bdd26295fc4b4 +size 110925 diff --git a/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_40_batch_0.ply b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_40_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..620bff80d268601cd38a922d766cb05b5960d017 --- /dev/null +++ b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_40_batch_0.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d1760c04f49108f6839cfcafe68e0693ee2194968a0fde5ca58fbafa3eb7c114 +size 104021 diff --git a/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_48_batch_0.ply b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_48_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..f971f2021ebdc53e143520564e900cdfb9cae531 --- /dev/null +++ b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_48_batch_0.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ea30fffe8f2b1085f6b1487485b0394d036329363620434e971394ba14d5933a +size 108183 diff --git a/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_56_batch_0.ply b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_56_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..b44383407572e24f6b4418f1a94198a05e342a64 Binary files /dev/null and b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_56_batch_0.ply differ diff --git a/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_64_batch_0.ply b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_64_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..e25cc52086351db8720a8377151071e6ad335c94 Binary files /dev/null and b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_64_batch_0.ply differ diff --git a/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_72_batch_0.ply b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_72_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..d1038fb98c75155c8d9860bb6113290ea18c1fd1 Binary files /dev/null and b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_72_batch_0.ply differ diff --git a/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_80_batch_0.ply b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_80_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..bae1883acea42870a138b9a5cc4ae913c03b818f --- /dev/null +++ b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_80_batch_0.ply @@ -0,0 +1,57 @@ +ply +format binary_little_endian 1.0 +comment Created by Open3D +element vertex 1207 +property double x +property double y +property double z +element face 2438 +property list uchar uint vertex_indices +end_header +̔?iz?gffs^??i3?gffs^??iz?gff:??iz?hffF?̔?I?gffs^??I?gff:??I?hffF?̔?)Ֆ?gffs^??)Ֆ?gff:??)Ֆ?hffF?̔??gffs^???gff:???hff?̔??hff???hff?̔?tY?gffs^??tY?gff:??tY?hffF??̼ +6?hff??, }?gffs^?̔?T?gffs^??̜5?gffs^??T?gff:??T?hffF?̔?T?hff.??̜5?hff.??T?hffvi??T?hff~,?̔?.?gffB?? K ?gffB??.?gff?̔?.?gff>3?? K ?gff>3?̔?.?gffH?? K ?gffH?̔?.?gff^?? K ?gff^?̔?.?gffs^?? K ?hff?̔?.?hff?̔?.?hffn?? K ?hffn?̔?.?hff޳3?? K ?hff޳3?̔?.?hffNz?? K ?hffNz?̔?.?hff?? K ?hff?̔?.?hff.??.?hff~,??|`R?gffB??4u?gffe?̔?4u?gff>3?̔?4u?gffH?̔?4u?gff^??4u?gff:??|`R?gffs^??|`R?hff??4u?hff?̔?4u?hffn??4u?hff&)??|`R?hff޳3??4u?hff>W?̔?4u?hffNz?̔?4u?hff??4u?hffvi??|`R?hff.??u?gff>3??u?gffH??u?gff^??u?hffn??u?hffNz??u?hff?̨.?i3?gffs^?̨.?iz?gff:?Li?iz?hff?̨.?i3?hff?Li?iz?hffn?̨.?i3?hffn?̨.?iz?hff&)?Li?I?gff^?̨.?ٔ?gff^?̨.?I?gfff?Li?I?hff?Li?I?hffn?̨.?ٔ?hff޳3?Li?I?hff޳3?Li?I?hffNz?̨.?ٔ?hffNz?̨.?I?hffT?Li?)Ֆ?gff^?̨.?)Ֆ?gfff?Li?)Ֆ?hff?Li?)Ֆ?hffn?̨.?)Ֆ?hff&)?̨.?O?hff޳3?̨.?)Ֆ?hff>W?Li?)Ֆ?hffNz?̨.?O?hff?Li?)Ֆ?hff?̨.?)Ֆ?hffvi?Li??gff^?̨.??gfff?Li??hffn?̨.??hff&)?Li??hffNz?̨.??hff>W?̨.??hffT?̨.??hff?Li?tY?gff^?̨.?tY?gfff?Li?tY?hff?Li?tY?hffn?̨.?tY?hff&)?̨.?̼ +6?hffNz?̨.?, }?gff^?Li?䪠?gffs^?̨.?䪠?gff:?Li?䪠?hff?̨.?䪠?hff?̨.?, }?hffn?Li?T?gff^?̨.?̜5?gff^?̨.?T?gff}?̨.?T?gff?Li?T?gff>3?̨.?̜5?gff>3?̨.?T?gffe?̨.?T?gff?Li?T?gff^?̨.?̜5?gff^?̨.?T?gfff?Li?T?hff?̨.?T?hff?Li?T?hff޳3?̨.?̜5?hff޳3?̨.?T?hff&)?̨.?T?hff>W?̨.?̜5?hff.?̨.?T?hffvi?Li?T?hff P?̨.?̜5?hff P?̨.?T?hffVs?Li?.?gff?̨.? K ?gff?̨.?.?gff6h?Li?.?gff^?̨.? K ?gffB?̨.? K ?gffH?̨.? K ?hffn?̨.? K ?hffNz?̨.? K ?hff?Li?.?hff P?̨.?.?hffVs?Li?4u?gff?̨.?4u?gff6h?Li?4u?gff^?Li?4u?gffB?Li?4u?gffH?̨.?4u?gff?̨.?|`R?gffH?̨.?4u?gfff?Li?4u?gffs^?Li?4u?hff?̨.?4u?hff&)?̨.?|`R?hff޳3?̨.?4u?hff>W?Li?4u?hff.?̨.?4u?hff~,?̨.?|`R?hff P?̨.?u?gff?̨.?u?gff^?̨.?u?gffB?̨.?u?gff>3?̨.?u?gff^?̨.?u?gffs^?̨.?u?hff?̨.?u?hffn?̨.?u?hffNz?̨.?u?hff?̨.?u?hff.??iz?gffs^?`+?iz?hffF?`+?i3?hff??iz?hffn?`+?iz?hff?`+?i3?hff޳3?`+?iz?hff&)??iz?hff޳3??iz?hffNz?`+?i3?hffNz?`+?iz?hffT??I?gffH?`+?ٔ?gffH?`+?I?gff?`+?ٔ?gff^??I?gffs^?`+?I?gff:?`+?I?hffF?`+?ٔ?hffn?`+?I?hffT??)Ֆ?gffH?`+?)Ֆ?gff?`+?O?gffs^??)Ֆ?hff޳3?`+?O?hff?`+?)Ֆ?hffvi???gffH?`+??gff???hff޳3???hff?`+??hffvi??tY?gffH?`+?tY?gff??tY?hffn?`+?tY?hff?`+?̼ +6?hffn?`+?tY?hff&)??tY?hff޳3?`+?̼ +6?hffNz?`+?tY?hff>W?`+?̼ +6?hff??䪠?gff>3?`+?, }?gff>3?`+?䪠?gffe??䪠?gffH??䪠?gff^?`+?䪠?hff?`+?, }?hff޳3?`+?䪠?hff>W??䪠?hffNz?`+?, }?hffNz??䪠?hff?`+?, }?hff?`+?䪠?hffvi?`+?̜5?gff^?`+?T?gff}?`+?T?gff?`+?T?gffe??T?gffH?`+?̜5?hffn??T?hffn??T?hff޳3?`+?T?hff&)?`+?T?hff>W??̜5?hff>W??T?hffNz??T?hff?`+?̜5?hff.??T?hff P?`+?T?hff~,?`+? K ?gff?`+?.?gff6h?`+? K ?gffB?`+? K ?hff޳3?`+? K ?hff P?`+?.?hffVs?`+?|`R?gff??4u?gff?`+?4u?gff}??4u?gffH??4u?hffn?`+?4u?hff?`+?|`R?hffn?`+?4u?hff&)??4u?hff޳3??4u?hff.?`+?4u?hffvi?`+?|`R?hff.?`+?|`R?hff P?`+?u?gff^?`+?u?gffB?`+?u?gff>3?`+?u?gffH?`+?u?gff^?`+?u?gffs^?`+?u?hff?`+?u?hff޳3?`+?u?hffNz?`+?u?hff?̼~=?iz?hff?DO?i3?hff޳3?DO?iz?hff&)?DO?i3?hffNz?DO?iz?hffT?̼~=?I?gff>3?DO?ٔ?gff>3?DO?I?gffe?DO?ٔ?gffH?DO?ٔ?gff^?̼~=?I?gffs^?DO?ٔ?gffs^?DO?I?hffF?̼~=?I?hff?DO?ٔ?hffn?DO?I?hff?DO?I?hffT?̼~=?)Ֆ?gff>3?DO?)Ֆ?gffe?DO?O?hff?̼~=?)Ֆ?hff?DO?)Ֆ?hffT?DO??gff>3?DO??gff?̼~=??hff?DO??hffT?DO?tY?gff?DO?tY?hff?DO?̼ +6?hffn?DO?tY?hff&)?̼~=?tY?hffNz?DO?tY?hffT?DO?, }?gff>3?DO?䪠?gffe?DO?䪠?hff?̼~=?䪠?hff޳3?DO?䪠?hff&)?DO?, }?hff?DO?䪠?hffvi?DO?̜5?gff^?DO?T?gff}?̼~=?T?gffB?DO?̜5?gffB?̼~=?T?hffn?DO?T?hff?DO?T?hff&)?̼~=?̜5?hff&)?̼~=?T?hff޳3?DO?̜5?hff.?DO?T?hff~,?̼~=?.?gff?DO?.?gff}?DO? K ?hffn?DO? K ?hff P?DO?.?hffVs?DO?4u?gff6h?̼~=?4u?gff?DO?|`R?gff?̼~=?4u?gff^?DO?4u?gff}?DO?|`R?gff^?DO?4u?gff?̼~=?4u?gff>3?DO?4u?gffe?DO?|`R?gff>3?DO?4u?gff?̼~=?4u?gffs^?DO?4u?gff:?DO?|`R?gffs^?DO?4u?hffF?DO?4u?hff?DO?|`R?hffn?DO?4u?hff&)?̼~=?4u?hffNz?DO?4u?hff>W?DO?|`R?hffNz?DO?4u?hffT?̼~=?4u?hff.?DO?4u?hff~,?DO?|`R?hff P?DO?u?gff?DO?u?gffB?DO?u?gffH?DO?u?gff^?DO?u?hff?DO?u?hff޳3?DO?u?hff?DO?u?hff.?t a?T?hffn?r???hffn?r?T?hff?r?T?hff&)?t a?iz?hff?r?i3?hff?r?iz?hffF?t a?iz?hffn?t a?i3?hff&)?r?iz?hff&)?t a?iz?hff޳3?r?iz?hff>W?r?i3?hffNz?r?iz?hffT?t a?I?gffB?r?ٔ?gffB?r?I?gff?r?ٔ?gff>3?r?ٔ?gffH?r?ٔ?gff^?r?ٔ?gffs^?t a?I?hff?r?ٔ?hff޳3?r?I?hffT?t a?)Ֆ?gffB?r?)Ֆ?gff?t a?)Ֆ?gffs^?r?)Ֆ?gff:?r?O?gffs^?r?O?hff?t a?)Ֆ?hff?r?)Ֆ?hff?r?O?hff?t a?)Ֆ?hff?r?)Ֆ?hffvi?t a??gffB?r??gff?t a??gff>3?r??gffs^?r??hff?r??hffT?r??hff?t a?tY?gffB?r?tY?gff?t a?tY?gff>3?t a?tY?hff?r?tY?hffF?r?̼ +6?hff?r?̼ +6?hffn?r?tY?hff&)?r?tY?hffT?t a?䪠?gffB?r?䪠?gff?t a?䪠?gff^?r?䪠?gfff?r?, }?gff^?r?, }?gffs^?t a?䪠?gffs^?t a?䪠?hff?r?, }?hff޳3?t a?䪠?hff޳3?r?䪠?hff>W?r?, }?hff?r?䪠?hffvi?t a?T?gff?r?̜5?gff?r?T?gff6h?r?̜5?gff^?r?̜5?gff^?r?̜5?gffs^?t a?T?hff?r?T?hffF?r?̜5?hff޳3?r?T?hff&)?t a?T?hff.?r?T?hffvi?t a?.?gff?r?.?gff6h?r? K ?hff?r? K ?hffn?t a?.?hff.?r?.?hffvi?r? K ?hff P?r?.?hff~,?r?.?hffVs?t a?4u?gff?r?|`R?gff?r?4u?gff}?t a?4u?gff^?r?4u?gffe?r?|`R?gff>3?r?|`R?gffH?t a?4u?gffH?r?4u?gfff?t a?4u?gffs^?t a?4u?hffn?t a?4u?hffNz?r?|`R?hff.?r?4u?hff~,?r?|`R?hff P?r?u?gff^?r?u?gffB?r?u?gff^?r?u?gffs^?r?u?hff?r?u?hffn?r?u?hff޳3?r?u?hffNz?r?u?hff?r?u?hff.?,?)^?hff?̈Y?9?hff?̈Y?)^?hffF?̈Y?)^?hff?,?T?gffs^?̈Y???gffs^?̈Y?T?gff:?,?T?hff?̈Y???hffn?̈Y?T?hff&)?,?iz?gffs^?̈Y?iz?gff:?̈Y?i3?hff޳3?,?iz?hff޳3?,?iz?hffNz?̈Y?iz?hff>W?̈Y?ٔ?gffB?̈Y?I?gff?̈Y?ٔ?gff>3?̈Y?ٔ?gffH?̈Y?ٔ?gff^?̈Y?I?hff&)?,?I?hff޳3?̈Y?ٔ?hff޳3?,?I?hffNz?̈Y?)Ֆ?gff?,?)Ֆ?gffs^?̈Y?)Ֆ?hffF?̈Y?O?hff?̈Y?)Ֆ?hff?,?)Ֆ?hff޳3?̈Y?)Ֆ?hff&)?,?)Ֆ?hffNz?,?)Ֆ?hff?̈Y??gff?̈Y??hffF?,??hff?̈Y??hffn?,??hffn?̈Y??hff޳3?̈Y??hff&)?,??hffNz?̈Y??hff>W?̈Y?tY?gff?,?tY?gffs^?̈Y?tY?gff:?̈Y?̼ +6?gffs^?̈Y?tY?hff&)?,?tY?hffNz?̈Y?tY?hff>W?̈Y?䪠?gff?,?䪠?gffH?̈Y?䪠?gff?̈Y?, }?gffH?̈Y?, }?gff^?̈Y?, }?hff޳3?,?䪠?hffNz?,?䪠?hff?̈Y?, }?hff.?̈Y?䪠?hffvi?,?䪠?hff.?̈Y?䪠?hff~,?,?T?gff?,?T?gff^?̈Y?T?gff?,?T?gffH?̈Y?T?gff?̈Y?̜5?gff^?̈Y?T?gfff?,?T?gffs^?̈Y?T?gff:?̈Y?̜5?hff?̈Y?T?hffF?,?T?hff?,?T?hffn?̈Y?̜5?hffn?,?T?hff޳3?̈Y?T?hff&)?,?T?hffNz?̈Y?T?hffT?̈Y?̜5?hff?,?T?hff.?̈Y?T?hff~,?̈Y? K ?gff?̈Y?.?gff6h?̈Y? K ?gff^?̈Y? K ?gffH?̈Y? K ?gffs^?̈Y? K ?hff޳3?̈Y? K ?hffNz?,?.?hff.?̈Y? K ?hff P?̈Y?.?hffVs?,?4u?gff?̈Y?4u?gff6h?̈Y?4u?gffe?̈Y?|`R?gff>3?,?4u?gffH?̈Y?4u?gff?,?4u?hff?̈Y?4u?hffT?̈Y?|`R?hff?̈Y?4u?hffvi?,?4u?hff P?̈Y?4u?hffVs?̈Y?u?gff?̈Y?u?gff^?̈Y?u?gffB?̈Y?u?gffH?̈Y?u?gff^?̈Y?u?gffs^?̈Y?u?hff?̈Y?u?hffn?̈Y?u?hff޳3?̈Y?u?hffNz?̈Y?u?hff.?̈Y?u?hff P?@?9?hff?@?)^?hffF?@?)^?hff?@???gffs^?@?T?gff:?@???hffn?@?T?hff&)?@?i3?gffs^??iz?gffs^?@?iz?hffF??iz?hffn?@?iz?hff?@?i3?hffn??iz?hff޳3??I?gffB?@?I?gffe?@?ٔ?gff>3?@?ٔ?gffH??I?gff^?@?I?gfff?@?I?gff:?@?ٔ?gffs^??I?hffn?@?I?hff?@?O?gffB?@?)Ֆ?gff?@?O?gff^?@?)Ֆ?hffF?@?O?hff??)Ֆ?hffn?@??gff???gff^?@??gfff?@??gff^?@??gffs^???gffs^???hff޳3?@?tY?gff??tY?gffH?@?tY?gff?@?̼ +6?gffH??tY?gff^??tY?hff޳3??tY?hff?@?̼ +6?hff?@?tY?hffT??tY?hff.?@?̼ +6?hff.?@?tY?hff~,??䪠?gff^?@?, }?gff^?@?䪠?gff}??䪠?gff>3?@?䪠?gffe?@?, }?gff>3?@?, }?hff?@?䪠?hffvi??䪠?hff P?@?, }?hff P?@?䪠?hffVs??T?gff^?@?T?gff}?@?̜5?gff>3?@?̜5?gffH??T?gffH??T?gff^?@?T?gfff?@?̜5?gffs^?@?T?gff:??T?gffs^??T?hff?@?T?hffF?@?T?hff?@?̜5?hffn??T?hff޳3?@?̜5?hff޳3?@?T?hff>W?@?̜5?hff?@?T?hffT?@?T?hff~,?@?̜5?hff P??.?gff?@?.?gff}?@? K ?gff^?@? K ?hff?@? K ?hffNz?@? K ?hff P?@?.?hffVs?@?|`R?gff?@?4u?gff6h?@?4u?gffe?@?|`R?gff>3?@?4u?gff??4u?hffn?@?4u?hff?@?|`R?hffn?@?4u?hff&)??4u?hffNz?@?4u?hff>W?@?|`R?hffNz?@?4u?hffT??4u?hff?@?4u?hffVs?@?u?gff?@?u?gff^?@?u?gffB?@?u?gffH?@?u?gff^?@?u?gffs^?@?u?hff?@?u?hff޳3?@?u?hff?@?u?hff.?@?u?hff P?̜?)^?hff?̜?T?gffs^?̜?T?hff?̜?T?hffn?̜?iz?hff?̜?I?gff>3?̜?I?gffH?̜?I?gffs^?̜?I?hff?̜?)Ֆ?gffB?̜?)Ֆ?gff>3?n?)Ֆ?gff?n?O?gffH?̜?)Ֆ?gff^?n?)Ֆ?gfff?̜?)Ֆ?gffs^?̜?)Ֆ?hffNz?n?O?hffNz?n?)Ֆ?hff>W?̜?)Ֆ?hff?n?O?hff?n?)Ֆ?hffvi?̜??gffB?n??gffe?n??gff>3?n??gfff?̜??hff޳3?n??hff޳3?n??hff&)?̜??hffNz?̜??hff?n??hffvi?̜?tY?gff^?n?̼ +6?gff^?n?tY?gff}?n?̼ +6?gffB?n?tY?gffe?̜?tY?gff>3?n?̼ +6?gff>3?n?̼ +6?gffH?n?̼ +6?hff޳3?n?tY?hff>W?̜?tY?hffNz?n?̼ +6?hff.?n?tY?hff~,?n?䪠?gff}?n?䪠?gffe?n?, }?hffNz?̜?䪠?hff?n?䪠?hffT?̜?䪠?hff P?n?䪠?hff~,?̜?T?gff?n?̜5?gff?n?T?gff6h?n?̜5?gff>3?̜?T?gffH?n?T?gff?n?̜5?gff^?n?T?gfff?̜?T?gff^?n?̜5?gffs^?n?T?hffF?̜?T?hffn?̜?T?hff޳3?n?̜5?hffNz?n?T?hff>W?̜?T?hffNz?̜?T?hff P?n?̜5?hff P?n?T?hffVs?̜?.?gff?n?.?gff6h?n? K ?gffH?n? K ?hff?n? K ?hffn?n? K ?hff޳3?n?.?hffVs?n?4u?gff6h?̜?4u?gff>3?̜?4u?gffs^?n?4u?gff:?n?|`R?gffs^?n?4u?hffF?n?4u?hff?n?|`R?hffn?n?4u?hff&)?̜?4u?hffNz?n?4u?hffVs?n?u?gff?n?u?gff^?n?u?gffB?n?u?gff>3?n?u?gffH?n?u?gff^?n?u?hff?n?u?hff޳3?n?u?hffNz?n?u?hff?n?u?hff.?n?u?hff P?T4?I?hffNz?̰?ٔ?hffNz?̰?I?hff>W?̰?I?hffT?T4?)Ֆ?gffH?T4?)Ֆ?hff޳3?̰?O?hff޳3?̰?)Ֆ?hff&)?̰?O?hff?̰?)Ֆ?hffvi?T4??gff>3?T4??gffH?̰??hff&)?̰??hff.?T4??hff.?̰??hff~,?̰?̼ +6?gff^?̰?tY?gff}?T4?tY?gffB?̰?tY?gff?T4?tY?hff޳3?̰?tY?hff&)?̰?tY?hff~,?̰?䪠?gff}?̰?, }?gffB?̰?䪠?gffe?̰?, }?hff޳3?T4?䪠?hffNz?̰?䪠?hff>W?̰?䪠?hff~,?T4?T?gff?̰?T?gff}?̰?̜5?gff>3?T4?T?gffH?̰?̜5?gffH?T4?T?gff^?̰?T?gfff?̰?T?gff:?̰?̜5?gffs^?T4?T?hff?̰?̜5?hff?̰?T?hff?T4?T?hff޳3?̰?̜5?hff޳3?̰?T?hff&)?T4?T?hffNz?̰?T?hff>W?̰?̜5?hffNz?̰?T?hffT?T4?T?hff P?̰?T?hff~,?̰? K ?gff?̰?.?gff6h?̰? K ?gff^?̰? K ?hffn?̰? K ?hffNz?̰? K ?hff P?̰?.?hffVs?̰?4u?gff6h?T4?4u?gffB?̰?4u?gff?̰?|`R?gffB?̰?4u?gffe?T4?4u?gffs^?T4?4u?hffn?T4?4u?hff?̰?4u?hffT?̰?|`R?hff?̰?4u?hffvi?̰?4u?hffVs?̰?u?gff?̰?u?gff^?̰?u?gff>3?̰?u?gffH?̰?u?gff^?̰?u?gffs^?̰?u?hff?̰?u?hffn?̰?u?hff޳3?̰?u?hffNz?̰?u?hff.?̰?u?hff P?h$?ٔ?hffNz?h$?I?hff>W? ?I?hff?h$?ٔ?hff?h$?I?hffvi?h$?O?hff޳3?h$?)Ֆ?hff&)?h$?)Ֆ?hffT? ?)Ֆ?hff?h$?O?hff?h$??hff޳3? ??hff޳3?h$??hff>W?h$??hff? ??hff.?h$??hffvi? ?tY?gff^? ?tY?hff޳3?h$?tY?hff>W? ?tY?hff?h$?tY?hffT?h$?̼ +6?hff? ?tY?hff.? ?䪠?gff^? ?䪠?gffB?h$?, }?hffNz? ?䪠?hffNz?h$?, }?hff?h$?䪠?hffT? ?䪠?hff.?h$?䪠?hffvi? ?T?gff^?h$?T?gff?h$?̜5?gffB? ?T?gff>3?h$?T?gffe? ?T?gffH?h$?̜5?gffs^?h$?T?gff:?h$?̜5?hff? ?T?hffn?h$?̜5?hffn?h$?̜5?hff޳3?h$?T?hff>W?h$?T?hffT? ?T?hff.?h$?T?hffvi?h$? K ?gff?h$?.?gff6h?h$? K ?gff^?h$? K ?gff>3?h$? K ?gffH?h$? K ?gff^?h$? K ?hffNz?h$? K ?hff.?h$? K ?hff P?h$?.?hffVs?h$?4u?gff6h?h$?4u?gff?h$?|`R?gffB?h$?4u?gffe? ?4u?hff޳3?h$?4u?hff&)?h$?|`R?hff޳3?h$?|`R?hffNz? ?4u?hffNz?h$?4u?hffT? ?4u?hff?h$?4u?hffVs?h$?u?gff?h$?u?gff^?h$?u?gff>3?h$?u?gffH?h$?u?gff^?h$?u?gffs^?h$?u?hff?h$?u?hffn?h$?u?hff?h$?u?hff.?h$?u?hff P?I6?I?hffNz?I6?I?hff?I6?)Ֆ?hff޳3?I6?)Ֆ?hffNz?I6??hffNz?I6??hff?I6?tY?hffNz?I6?䪠?hff?I6?T?gff^? H?̜5?gff^? H?T?gff}? H?̜5?gffB? H?T?gffe?I6?T?gffH? H?̜5?gffH? H?T?gff?I6?T?gff^? H?̜5?gff^? H?̜5?gffs^?I6?T?hff? H?T?hffF? H?T?hff? H?̜5?hffn?I6?T?hff޳3? H?T?hff&)? H?̜5?hff? H?T?hffT? H?̜5?hff.?I6?T?hff.? H?T?hff~,? H? K ?gff? H?.?gff6h? H? K ?gff>3? H? K ?hff? H? K ?hff޳3? H? K ?hffNz? H? K ?hff P? H?.?hffVs? H?4u?gff6h?I6?4u?gffB? H?|`R?gff>3? H?4u?gffe?I6?4u?gff>3? H?4u?gff?I6?4u?hff޳3? H?4u?hff>W? H?|`R?hffNz? H?4u?hffT?I6?4u?hff P? H?4u?hff~,? H?|`R?hff P? H?u?gff? H?u?gff^? H?u?gffB? H?u?gffH? H?u?gff^? H?u?gffs^? H?u?hff? H?u?hffn? H?u?hff޳3? H?u?hff? H?u?hff.?ؙk?̜5?gff^?ؙk?T?gff}?|Y?T?gffB?ؙk?T?gff?ؙk?̜5?gffH?ؙk?T?gff?ؙk?̜5?gff^?ؙk?̜5?gffs^?ؙk?T?hffF?|Y?T?hffn?|Y?T?hff?ؙk?T?hffvi?ؙk?̜5?hff.?ؙk?T?hff~,?ؙk? K ?gff?ؙk?.?gff6h?ؙk? K ?gffB?ؙk? K ?gff>3?ؙk? K ?hff?ؙk? K ?hffn?ؙk? K ?hff޳3?ؙk? K ?hffNz?ؙk? K ?hff?ؙk? K ?hff P?ؙk?.?hffVs?ؙk?4u?gff6h?|Y?4u?gffB?ؙk?4u?gff?ؙk?|`R?gffB?ؙk?4u?gffe?|Y?4u?gff>3?|Y?4u?hffNz?ؙk?|`R?hff?ؙk?4u?hffT?|Y?4u?hff?ؙk?|`R?hff.?|Y?4u?hff.?ؙk?4u?hff~,?|Y?4u?hff P?ؙk?4u?hffVs?ؙk?u?gff?ؙk?u?gff^?ؙk?u?gff>3?ؙk?u?gffH?ؙk?u?gff^?ؙk?u?gffs^?ؙk?u?hff?ؙk?u?hffn?ؙk?u?hff޳3?ؙk?u?hffNz?ؙk?u?hff P?4_}?T?gff^?̐$?̜5?gffB?̐$?T?gff?4_}?T?gffB?̐$?T?gffe?4_}?T?gffH?̐$?T?gfff?̐$?̜5?gff^?̐$?̜5?gffs^?4_}?T?hff?̐$?̜5?hff?̐$?T?hff?4_}?T?hff.?̐$? K ?gff?̐$?.?gff6h?̐$? K ?gff^?̐$? K ?gff>3?̐$? K ?gffH?̐$? K ?hffn?̐$? K ?hff޳3?̐$? K ?hffNz?̐$? K ?hff?̐$? K ?hff.?4_}?.?hff P?̐$?.?hff~,?̐$?|`R?gff?4_}?4u?gff?̐$?4u?gff}?4_}?4u?gffB?4_}?4u?hff?4_}?4u?hff.?̐$?|`R?hff P?̐$?4u?hffVs?̐$?u?gff^?̐$?u?gffB?̐$?u?gff>3?̐$?u?gffH?̐$?u?gff^?̐$?u?gffs^?̐$?u?hff?̐$?u?hffn?̐$?u?hff޳3?̐$?u?hffNz?̐$?u?hff?̐$?u?hff.?̐$?u?hff P??T?gff^?H?̜5?gff^?H?T?gff}?H?̜5?gffB?H?T?gffe??T?gff^?H?T?gff:?H?̜5?gffs^?H?̜5?hff?H?T?hff??T?hff?H?̜5?hff?H?T?hffT?H?T?hffvi?H? K ?gff?H?.?gff6h?H? K ?gff>3?H? K ?gffH?H? K ?gff^?H? K ?hffn?H? K ?hff޳3?H? K ?hffNz?H? K ?hff.??.?hff P?H? K ?hff P?H?.?hffVs?H?|`R?gff?H?|`R?gff^??4u?gff^?H?4u?gff??4u?gffs^?H?4u?gff:?H?|`R?gffs^?H?|`R?hff??4u?hff?H?4u?hff?H?4u?hff~,??4u?hff P?H?|`R?hff P?H?u?gffB?H?u?gff>3?H?u?gffH?H?u?gff^?H?u?hffn?H?u?hff޳3?H?u?hffNz?H?u?hff?H?u?hff.?̤t?T?gff^?̤t?T?gffB?̤t?T?gffs^?̤t?T?hff?̤t?T?hff?̤t?.?gff?̤t?.?gff^?̤t?.?gffB?̤t?.?gff>3?̤t?.?gffH?̤t?.?gff^?̤t?.?gffs^?̤t?.?hff?̤t?.?hffn?̤t?.?hff޳3?̤t?.?hffNz?̤t?.?hff?̤t?.?hff.?̤t?.?hff P?̤t?4u?gffB?̤t?4u?gff>3?̤t?4u?gffH?̤t?4u?gff^?̤t?4u?hffn?̤t?4u?hff޳3?̤t?4u?hffNz?̤t?4u?hff?̤t?4u?hff.?   + +     +   +    +    "!" $#!$!"#$#%#&'&%')(')'&+*(+()-,*-*+/.,/,-./.0.11024324245!456!#5!6%876%7#%68%'8'9;:9';9(;'*=<;*<(*;?>=*?=,?*@,.?,@0BA@0A.0@B01C34C45C5DD56D6EE67F:;F;<G>?G?@G@HH@AJIJLKLILNMKNKLOMNRQPQJPJPJSKKTKMSKTMOUVMUTMVXWVXVUYWXRPZRZ[ZZP\ SS ]ST\S]V_^]V^TV]a`_Va_WaVWYbcWbaWcdcb[Ze[ef eeZ\  \\g\]g]^h]hg`ai`ijclkickacilcdfemfmnm  meoggogpoghqgqprjiriksnmusttssmmootovtpxwvpwopvxpq{zy|yz~}}~uuttttttvvwv{y{yyyy|}   } }" $$$"$&&)&+++)+-+-/-//1123278988:9==<=>>ABBB1113C3CDDCDDEDE7EE:F:FF<F>>GGHGHAHHJIIILINLNONQRQQQJJJUOOUUXXYXYY[RR^_`_YYbdbdf[[hh^j``klldldnffhqhhjjrjrkrrsnnusxwxwqxzz{|z|~~~uw{||      + +  +      +   + ! !#"#!##$"%%%&&%'&&())*))""$$+%%+%+',-,(-,.*))././,-00-100,/2/43344561707007609892283:3;<;5<;6;;;67=6=6===>@?@BAB?BB9A9A9CDC:D<FE<CFC<;<;F;;GFFGECFGG;>HHHHIJJKKK@AADLCEGLGLCLLGIMMMMNJQPOPRPJPQJPJQKSKQKSTRTSPRSRUTXWVVYX\[ZZ]\_^^__`cbaadce  e f gf  g N NghOPRPShiURiRiVWiWijYVjVjkkjZ[k[kl]ZlZl^^lm`mabmbmndanan eoenooefrqpspqvutturptrwtpyxsxzsszspppxxwpywxxzz{|{|||}~~~  ! !#!t$t$#$vt'&w&twwy&y&z&z&z{}((}~*~$$$++'++'---(.**/.-1-2//344445571798882:33<<5<77=>=>?@??BBB?B9D::<E<H>>>IHK@@DLDLELLIIMINMNQOQKQQKSTSKSTSUTXXWYXYX[\]\^_`_bcdcffgfgggNghOShUiUiiWijYjkjk[kk]l]ll^ll`m`mmbmmdndnnonofoqrrrsqsvuuuryyys|{}|vyy{{}}    +  + + +    +   +  !!"!!$#!#!#'&%)(')'%*+()*,*.-,-,..//./00/21221133 44"$5#&'5'5#55''((++6**6*6,,67,7-8//9/98/9/099:;<;2<;>==@>?>?>?CBA8DCAE8EEE8FEF:FG<;G;GHGIIH==IJ@?J?JKJLLKMMLNNMOONPPOABPBPQDAQAQEREQRREFTSTSSUWVWTTVUXXXXY[ZWZW[\Z_^]]`Y]Y]Y_`aabcbcdcddfededeggghh[[h\]^ii^ji`i]i``lkalalakbfmeemgonnpiiooijoppilqltsrvurrutnuvnvnppww q xq{zy{ysyrsy|r|  v| r|vv  }w w}}w~~~xxx zzyyyyy|| } }~~~~   !"$!%&%%)%+)+)..-..021131134 44"445$$555&556+676-77009:9:2<2>>=>@@BBCCDCF:F<<GGHGHIHI=I@@JJKJKLKLMLNNMNNONPPOPBPDQDQQRQRFRTSUSWVTVVXUUYXZWZ\\^___Ybcdccfdgh\hhj^^lkbkkmmfmgmmnooojqqltststuuunxqxxz{{{{s{xz +    +                  ! !!!"!##"##$$$$%%&%&&&'&(('))(),+*-*+..10//0,/,*/**-2*2*22234.4.5.455.1/161/87373987;:;:=<:<:4<4455>?>6?>8898@9;A;=B<<BCBCD?>FDEEDD>>E@G@HHIIIACJJLKLJLMNKLMOPOPRQRPRSQRVUTWUXTYFEYEZEZWZZ +[\[G\[  +^]H^H ^H]IKKNN_MM_M_OQS`Q`Q`TV`V`TXXaWWaWaZ\b[ [bc b c^ d^gfeehgiijjmlkknmcocpdpqqp efq f qrhe re!r s!"sr!t"#ts"#iu#it#uui$uvu$$jw$jv$wwj%wxw%y%&yx%'kly'l&'yznk'zk(z'{(){z()o)o{}|+}+,~-+-|+~001,0}}022--~~~236616773797;:=:??6@99AA;B==CBD?FFDDDG@@IIAJJCJLJJNLPPOPRPSRSRUVUUFYUUXYZZZ\GG]]^I]]]N_N_O__`S`VXXaZaa\b\bcbcd^dggfghhllmmnmocoddppqpqfqhhrrsrststutuvuvwvxxwxxyylynznzz{z{o{}|||}      +  +   +  +         !!!!"#&%$$&&('&(&()+)*)*,**.-,,-*.--0/-0-101"12#2332$%3%3(4'$4(454665776887998::9);):;,)+;, , .0</. <01 = +  +=@?>A@>BBCDCDEDEGFGEGHFGIIKJK =L=JL?@L@L =L LAM@M@MBNBMNBNCFHOFOFOPOPQPQR QR I SI RSSUTST!IS!I!T"!#WVK#V#KWXVY%&'Y&Z+*-[**[ZU\T[-/"T\]"\1"]2W#^XW2^W3^23%Y_3Y^3__Y'4_'`_4a45a`4b56ba5c67cb6d78dc7e89ed8f9:fe9g:;gf:;+Zh;Zg;hhZ[h[ii[/<i/ji<<1]<]jmlk>?kl>kn>lA>nAnoCpDDpqrDqEDrEsGrsEHGsHstwvuxuvzyJzJKkLmLymLJyLk?o{AA{MM|N{|MCNpN}pN|}p}qt~HH~OOP~OPQPuRwRwRQxuRuSRUSUSzKKVXVXV\\UU\]^X^_^_`_`a`abaccbccdddedefefgfghghihjjijj]mlnllonqrsrrtswvxvzymyy{oo|{{}||q}}~tt~~wxxz \ No newline at end of file diff --git a/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_88_batch_0.ply b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_88_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..6cd6e9a40d29cb09bbab4e7c5477fde9bcb131b8 Binary files /dev/null and b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_88_batch_0.ply differ diff --git a/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_8_batch_0.ply b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_8_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..024d874593cea00914246c2db202a3b05ad6f95a Binary files /dev/null and b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_8_batch_0.ply differ diff --git a/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_96_batch_0.ply b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_96_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..e958f3fe691b2ca51e514f1d88268995026c4f03 Binary files /dev/null and b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_96_batch_0.ply differ diff --git a/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/training.log b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/training.log new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/training_log.csv b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/training_log.csv new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/viz_gripper_dir/gripper_idx0_design_0.008880730718374252_sim_0.0006588529560004172.ply b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/viz_gripper_dir/gripper_idx0_design_0.008880730718374252_sim_0.0006588529560004172.ply new file mode 100644 index 0000000000000000000000000000000000000000..849af9bb25df42c6cc9921823877fb50b74d0e32 --- /dev/null +++ b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/viz_gripper_dir/gripper_idx0_design_0.008880730718374252_sim_0.0006588529560004172.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:77102e783d0fe6bd7e377022d893ac4631b120402da7db0ed3ccdf580d7357cf +size 960706 diff --git a/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/viz_gripper_dir/gripper_idx108_design_0.0015005662571638823_sim_0.0006564186160621895.ply b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/viz_gripper_dir/gripper_idx108_design_0.0015005662571638823_sim_0.0006564186160621895.ply new file mode 100644 index 0000000000000000000000000000000000000000..298af676863cf9b4a620c7738cdae51d355e82ac --- /dev/null +++ b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/viz_gripper_dir/gripper_idx108_design_0.0015005662571638823_sim_0.0006564186160621895.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fc044c627cb8c72bec54d363cb72f5f7ce45c388803eba088c7523667e8e481d +size 788446 diff --git a/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/viz_gripper_dir/gripper_idx12_design_0.008762681856751442_sim_0.0006595052530789456.ply b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/viz_gripper_dir/gripper_idx12_design_0.008762681856751442_sim_0.0006595052530789456.ply new file mode 100644 index 0000000000000000000000000000000000000000..03aebd5ca6f95ae7c84a4da482b99ff9e684b86c --- /dev/null +++ b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/viz_gripper_dir/gripper_idx12_design_0.008762681856751442_sim_0.0006595052530789456.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:07f66647199e55f72da19ae4b9359e3378a489da96168eb6a333c1aec84c1216 +size 960706 diff --git a/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/viz_gripper_dir/gripper_idx24_design_0.008066898211836815_sim_0.0006587433082652647.ply b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/viz_gripper_dir/gripper_idx24_design_0.008066898211836815_sim_0.0006587433082652647.ply new file mode 100644 index 0000000000000000000000000000000000000000..88d347db4965271abb98b5dbd18b157e9cdefb79 --- /dev/null +++ b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/viz_gripper_dir/gripper_idx24_design_0.008066898211836815_sim_0.0006587433082652647.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e80e7d0d4253c76fe9d03b544ea135487dc9d0a0adb2b05a57e4f98bc44bc718 +size 960706 diff --git a/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/viz_gripper_dir/gripper_idx36_design_0.006384237669408321_sim_0.0006573268879404688.ply b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/viz_gripper_dir/gripper_idx36_design_0.006384237669408321_sim_0.0006573268879404688.ply new file mode 100644 index 0000000000000000000000000000000000000000..a045416b2cb11529bd32e3904bff9be2cbc346aa --- /dev/null +++ b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/viz_gripper_dir/gripper_idx36_design_0.006384237669408321_sim_0.0006573268879404688.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:45ffd033c9383c26454158827b2bfb55b5553e8676dc5d886fd5697ec7e31917 +size 960706 diff --git a/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/viz_gripper_dir/gripper_idx48_design_0.0050232019275426865_sim_0.0006276383852566573.ply b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/viz_gripper_dir/gripper_idx48_design_0.0050232019275426865_sim_0.0006276383852566573.ply new file mode 100644 index 0000000000000000000000000000000000000000..d753c2854abee530c084f51134a1f67950673c01 --- /dev/null +++ b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/viz_gripper_dir/gripper_idx48_design_0.0050232019275426865_sim_0.0006276383852566573.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:97e44befdf021e6bf11c26ff62b28b1c627c3c9f13a17fa6088e18b1ad8c16b7 +size 753994 diff --git a/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/viz_gripper_dir/gripper_idx60_design_0.00339437834918499_sim_0.0006571957438414656.ply b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/viz_gripper_dir/gripper_idx60_design_0.00339437834918499_sim_0.0006571957438414656.ply new file mode 100644 index 0000000000000000000000000000000000000000..00b521a688b2d9ae85fa0018e82672fae45603ba --- /dev/null +++ b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/viz_gripper_dir/gripper_idx60_design_0.00339437834918499_sim_0.0006571957438414656.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9c55fb7c710c524544884a348c4fc39a8a2aca62ba9c3a66b9bb90099c3e6b2f +size 857350 diff --git a/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/viz_gripper_dir/gripper_idx72_design_0.002619439037516713_sim_0.0006559643231077886.ply b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/viz_gripper_dir/gripper_idx72_design_0.002619439037516713_sim_0.0006559643231077886.ply new file mode 100644 index 0000000000000000000000000000000000000000..4cb0426dd843bd5f05236929c9ba446111c6d5d7 --- /dev/null +++ b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/viz_gripper_dir/gripper_idx72_design_0.002619439037516713_sim_0.0006559643231077886.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4121639e43a49f32c09d4bcf9f975402c9daac5bd868e98a9c0c013dd9211ad0 +size 857350 diff --git a/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/viz_gripper_dir/gripper_idx84_design_0.002020806772634387_sim_0.0006548946430903703.ply b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/viz_gripper_dir/gripper_idx84_design_0.002020806772634387_sim_0.0006548946430903703.ply new file mode 100644 index 0000000000000000000000000000000000000000..0f60c8f817c65844a1f0684357ee1db157dfefdf --- /dev/null +++ b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/viz_gripper_dir/gripper_idx84_design_0.002020806772634387_sim_0.0006548946430903703.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:da8491845d2a3a71461efc510ec6ae9c7cef30eeadf4efcef74fcc6c5614d7b5 +size 822898 diff --git a/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/viz_gripper_dir/gripper_idx96_design_0.0018633464351296425_sim_0.0006572044461738149.ply b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/viz_gripper_dir/gripper_idx96_design_0.0018633464351296425_sim_0.0006572044461738149.ply new file mode 100644 index 0000000000000000000000000000000000000000..6466b7ae14f872e7d4260590e594aa6e7c61411f --- /dev/null +++ b/20260113_192205_noprompt_angled_hand_geo3e-2_topo3e-2_accum3_seed569/viz_gripper_dir/gripper_idx96_design_0.0018633464351296425_sim_0.0006572044461738149.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8bb4f42da6753577c71b3c847f3cc8542b89ee89ff5c9b1b27b6731ba8ed20d0 +size 822898 diff --git a/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/cmd_config.yaml b/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/cmd_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..03a9e4c36be039919e1d9655a54b9cff0a5d78f3 --- /dev/null +++ b/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/cmd_config.yaml @@ -0,0 +1,34 @@ +accum_grad_sim: 3 +desc_prompt: base.txt +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: noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3 +fixed_v_file: gripping_5_HTP.json +geometry_lr: 0.03 +grad_clipping: 10.0 +gripper_dim: 12 +gumbel: true +init_emb_path: asset/embeddings/hand_stump_1_hard_09_3_soft_03.npz +layout_config_file: hand.json +max_epoch: 1200 +min_delta: 0.0 +monitor_metric: eval/sim_loss +num_fingers: 5 +num_segments: 10 +object_set_file: objects_set_a_1.json +optim_config_path: config/optimization_config/hand2/less_spread_no_prompt.yaml +patience: 10 +seed: 569 +stop_mode: min +topo_lr: 0.03 +viewpoint: +- -1.0 +- -0.25 +- -0.1 +zero_grad_dims: +- 8 +- 9 +- 10 +- 11 diff --git a/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/config.yaml b/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..4f6855332884bd527b5e9c6dec9a769afa697ff3 --- /dev/null +++ b/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/config.yaml @@ -0,0 +1,66 @@ +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: objects_set_a_1.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 + layout_config_file: hand.json + desc_prompt: base.txt + viewpoint: [-1.,-0.25,-0.1] + 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: [1.e-3,2.e-4,1.0] + obj_x_mul: [0.,1.,0.] + com_x_mul: [1.,2.,1.] + obj_particle_id: 2 + + design_loss_types: ['FingerPenLoss','SelfFingerPenLoss','AngleLoss'] + design_loss_coeffs: [0.01,0.1,0.01] + + 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 diff --git a/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/embeddings/gripper_idx0_design_0.0024641386698931456_sim_0.0006588525706541763.npz b/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/embeddings/gripper_idx0_design_0.0024641386698931456_sim_0.0006588525706541763.npz new file mode 100644 index 0000000000000000000000000000000000000000..461fbcb2bcfc91db38c1f16c6766d52fd92f344d --- /dev/null +++ b/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/embeddings/gripper_idx0_design_0.0024641386698931456_sim_0.0006588525706541763.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:29864b7f70270cf03914c512ef0c7faeaed7923d649b767404bbe637af2930df +size 1482 diff --git a/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/embeddings/gripper_idx12_design_0.0023005621042102575_sim_0.0006595957612440552.npz b/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/embeddings/gripper_idx12_design_0.0023005621042102575_sim_0.0006595957612440552.npz new file mode 100644 index 0000000000000000000000000000000000000000..2f7af8c13f421976474e0adba6ba22e2ed272e27 --- /dev/null +++ b/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/embeddings/gripper_idx12_design_0.0023005621042102575_sim_0.0006595957612440552.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ba58b267f26e3911e41bb987b21fd8de00fbe4e66de0ee9308d51fec017c0b3b +size 2869 diff --git a/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/embeddings/gripper_idx24_design_0.0022212525364011526_sim_0.0006594971336171153.npz b/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/embeddings/gripper_idx24_design_0.0022212525364011526_sim_0.0006594971336171153.npz new file mode 100644 index 0000000000000000000000000000000000000000..6ec7cf529af874f6a9ce82250bf47bb0ca56db09 --- /dev/null +++ b/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/embeddings/gripper_idx24_design_0.0022212525364011526_sim_0.0006594971336171153.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:26be90e49a62a8dc7e6be7c09c287b0e8dd06b9c9ac4e15793e4751ed6e12e1b +size 2897 diff --git a/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/embeddings/gripper_idx36_design_0.0021469660568982363_sim_0.0006590272490275549.npz b/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/embeddings/gripper_idx36_design_0.0021469660568982363_sim_0.0006590272490275549.npz new file mode 100644 index 0000000000000000000000000000000000000000..f15c4c0e4f58820ae5dfc26c2fa4f013e87e89d4 --- /dev/null +++ b/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/embeddings/gripper_idx36_design_0.0021469660568982363_sim_0.0006590272490275549.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6e128bc58e48ab14e0b696ce549afeaaf1b70424706cfb55f7e107bcd1ff19ff +size 2895 diff --git a/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/embeddings/gripper_idx48_design_0.002063241321593523_sim_0.0006586845949574949.npz b/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/embeddings/gripper_idx48_design_0.002063241321593523_sim_0.0006586845949574949.npz new file mode 100644 index 0000000000000000000000000000000000000000..55cc9b60621f0f2e38e295f45d0f6e2e5a59cf21 --- /dev/null +++ b/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/embeddings/gripper_idx48_design_0.002063241321593523_sim_0.0006586845949574949.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6a32c13a304c200167d97cc1d0765bb25e81847c31c7e9deb134406d89defad0 +size 2895 diff --git a/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/embeddings/gripper_idx60_design_0.0019784721080213785_sim_0.000658257785550454.npz b/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/embeddings/gripper_idx60_design_0.0019784721080213785_sim_0.000658257785550454.npz new file mode 100644 index 0000000000000000000000000000000000000000..4ccb99a7cc594309b173f7f958a06355477f2a15 --- /dev/null +++ b/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/embeddings/gripper_idx60_design_0.0019784721080213785_sim_0.000658257785550454.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c394433ad49dadc7049bfcedbfed58e1b551f1a9be56419099887a3da013d492 +size 2898 diff --git a/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/embeddings/gripper_idx72_design_0.0019958142656832933_sim_0.0006581517276153469.npz b/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/embeddings/gripper_idx72_design_0.0019958142656832933_sim_0.0006581517276153469.npz new file mode 100644 index 0000000000000000000000000000000000000000..9ce36152959abe22c71034eb1361895e7ee7161d --- /dev/null +++ b/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/embeddings/gripper_idx72_design_0.0019958142656832933_sim_0.0006581517276153469.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:06e1a90f2c8f0d72e4a7f26e366cefa1546081a79adf935e2770ad62b4d16ed8 +size 2903 diff --git a/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0000_Local_0000.mp4 b/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0000_Local_0000.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..5149008dce664ca3ae948940c4826fc31019e6e1 --- /dev/null +++ b/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0000_Local_0000.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cddb0e78291c203816885f3a0ce359a7d22474ba819f781fbc703e1f19d417b0 +size 438571 diff --git a/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0000_Local_0001.mp4 b/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0000_Local_0001.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..0db779ef459800ae14377e40efe5b9d346edd559 --- /dev/null +++ b/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0000_Local_0001.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4b6cf00138e2e4d1734821420b482233a9fb35c58518db3fe447cd5e6020a790 +size 506408 diff --git a/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0000_Local_0002.mp4 b/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0000_Local_0002.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..4c8d8f36ebade35b6621a9ff1fbb91f4b147e7a7 --- /dev/null +++ b/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0000_Local_0002.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:634546ae6de88b26075c5c881e33b4574cba424a83f569ff18704fa0942e9621 +size 460755 diff --git a/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0012_Local_0000.mp4 b/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0012_Local_0000.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..d302840688c33b1c457d03ae49d807253a031330 --- /dev/null +++ b/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0012_Local_0000.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:02c4ea54117da1650772fe8cfde4619cd02baf2c76697c678bdae0da61c8475c +size 437504 diff --git a/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0012_Local_0001.mp4 b/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0012_Local_0001.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..5a868b58b98eb008cfd25686e041846f7a373a87 --- /dev/null +++ b/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0012_Local_0001.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d8f21decf2b4107b81980d6fc414babd4531bdf36bc034a3eae411a242fa7ce7 +size 507064 diff --git a/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0012_Local_0002.mp4 b/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0012_Local_0002.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..8f4663777415bb7a8e004ce35a09067b2852fa71 --- /dev/null +++ b/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0012_Local_0002.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5ab8fab80e029bd68cd4089c8c0f19f0bc6e2558a7991da671076cf7c830a651 +size 453400 diff --git a/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0024_Local_0000.mp4 b/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0024_Local_0000.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..c45ccc7705306ba1780911707fd7893d471252b9 --- /dev/null +++ b/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0024_Local_0000.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:546859de542f980a5fafb7741b39f291f8b9ba0edaa158f49cba6b0252691f25 +size 438275 diff --git a/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0024_Local_0001.mp4 b/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0024_Local_0001.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..81a70ec5cc961a85ab285467d8ea581764fcee05 --- /dev/null +++ b/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0024_Local_0001.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1c92d215e212ca9ba4d4e979c5f0daf7399682a595a82752e35066a2bd315818 +size 508718 diff --git a/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0024_Local_0002.mp4 b/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0024_Local_0002.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..172ed472ad463312e0270478f32a8b553dd5d1c5 --- /dev/null +++ b/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0024_Local_0002.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0787d15119a2d40eac517c19f0c018a9d69154f445ee5398e473703d99a858e5 +size 454916 diff --git a/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0036_Local_0000.mp4 b/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0036_Local_0000.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..c679028da3ae82c1261baa0ae5a69b3c4a187772 --- /dev/null +++ b/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0036_Local_0000.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3a773ab069ac32732215920867419aea12a36441f95c41b862407be183cc01e6 +size 437714 diff --git a/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0036_Local_0001.mp4 b/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0036_Local_0001.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..33195cbf6575216f81c23abb348afbe332a79e10 --- /dev/null +++ b/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0036_Local_0001.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c26c7d4b90a12aac929ea7f78e6504b7451415d61b6eb46018e8bc1ae49b93ce +size 509583 diff --git a/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0036_Local_0002.mp4 b/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0036_Local_0002.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..aefae4063f5b7981670086efccfc6b83e78d67d5 --- /dev/null +++ b/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0036_Local_0002.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:da004a45311c6349cf3225bbfcffd2d0fb0c0b7055b15f47a2783fad1efd5b17 +size 455999 diff --git a/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0048_Local_0000.mp4 b/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0048_Local_0000.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..a2e7a479c0a8233d086094ed23a55d85b0db2f15 --- /dev/null +++ b/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0048_Local_0000.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:de257cc412da35742ce0ec322d319407657cc77f76c97990cfa88702e824a667 +size 438792 diff --git a/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0048_Local_0001.mp4 b/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0048_Local_0001.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..993e74d1f722361b3a4d707581df1368332636cc --- /dev/null +++ b/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0048_Local_0001.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5feb9a5609fec250cb3ded78eaaae38fc69788f020d90a7274325128b5232625 +size 511832 diff --git a/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0048_Local_0002.mp4 b/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0048_Local_0002.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..1ec09dab9455566cc94ded5e492185cbfa35e2f0 --- /dev/null +++ b/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0048_Local_0002.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a29d12765d07d581419a82ae7a9704bd89379337c1c567ccc62a204bd14c9484 +size 458386 diff --git a/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0060_Local_0000.mp4 b/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0060_Local_0000.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..14f44db73d3ab37b29c6896d21351a9212416860 --- /dev/null +++ b/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0060_Local_0000.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4bef4abb62892d4c22706c8214573770542f0507c1078097e254e10896566e7c +size 437639 diff --git a/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0060_Local_0001.mp4 b/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0060_Local_0001.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..b5f7c4e28163c2cefa77ff3920a4f100a2c01808 --- /dev/null +++ b/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0060_Local_0001.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d1ec1ba7bd75c5ddc07e15186442a7982e513052b42da909ba46c4602605b760 +size 505814 diff --git a/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0060_Local_0002.mp4 b/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0060_Local_0002.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..5c4a0d4097411c39f96b85a02ad24de4159f009e --- /dev/null +++ b/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0060_Local_0002.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3b01723ae3d7ef27d8306287abf5202b14e251c53685baef3195d42a7f9e1854 +size 462311 diff --git a/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0072_Local_0000.mp4 b/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0072_Local_0000.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..856df979f984594cf591d0bfc14f3272a2ce764e --- /dev/null +++ b/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0072_Local_0000.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1e867e8192899131aac83f8dbfc371778b56dd0d5595a9068ef754160eea64b8 +size 440283 diff --git a/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0072_Local_0001.mp4 b/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0072_Local_0001.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..b23e1197044a01dc62bb2d813a5c028e00e5b8a1 --- /dev/null +++ b/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0072_Local_0001.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8e33c5aaf8d3363806d9e8656794ba5e4bf94da472b3b1159d7168531b9af4cb +size 507803 diff --git a/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0072_Local_0002.mp4 b/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0072_Local_0002.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..73b6f5d299ae36235a00ecfa875de186279cb6fa --- /dev/null +++ b/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0072_Local_0002.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:56bd2762e30ca2b16d5023dd5b4db31ae6f195c918d6192449a53948526f088e +size 453591 diff --git a/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/ckpt/args.json b/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/ckpt/args.json new file mode 100644 index 0000000000000000000000000000000000000000..234a6f327a6d283c87563599541e596df57dae5f --- /dev/null +++ b/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/ckpt/args.json @@ -0,0 +1,240 @@ +{ + "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" + ], + "com_x_mul": [ + 1.0, + 2.0, + 1.0 + ], + "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, + "desc_prompt": "base.txt", + "design_device": "cpu", + "design_loss_coeffs": [ + 0.01, + 0.1, + 0.01 + ], + "design_loss_types": [ + "FingerPenLoss", + "SelfFingerPenLoss", + "AngleLoss" + ], + "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 + ], + "layout_config_file": "hand.json", + "load_args": null, + "load_controller": null, + "load_designer": null, + "load_rl_controller": null, + "log_every_iter": 1, + "log_reward": false, + "loss_coefs": [ + 0.001, + 0.0002, + 1.0 + ], + "loss_landscape_vbr_grid_index": [ + 0, + 0, + 0 + ], + "loss_landscape_vbr_n_trials": 10, + "loss_landscape_vbr_trial_type": "geometry", + "loss_landscape_vbr_value_range": [ + 0.0, + 1.0 + ], + "loss_types": [ + "ObjectBalancedLoss", + "ContactLoss", + "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": "objects_set_a_1.json", + "optimize_controller": true, + "optimize_design_types": [ + "geometry", + "softness_E", + "softness_v", + "suction_val" + ], + "optimize_designer": true, + "out_dir": "./logs/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/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 + ], + "viewpoint": [ + -1.0, + -0.25, + -0.1 + ], + "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 + ] +} \ No newline at end of file diff --git a/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/ckpt/env_config.yaml b/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/ckpt/env_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..06709cfa16326e84350be5a02d28231f8ad1c0d7 --- /dev/null +++ b/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/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: 45 + 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 diff --git a/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/geometry_sampling_0_iter_0_batch_0.ply b/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/geometry_sampling_0_iter_0_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..9dbe867dfc58f974c27caefb32aff09836b8ac23 Binary files /dev/null and b/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/geometry_sampling_0_iter_0_batch_0.ply differ diff --git a/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/geometry_sampling_0_iter_16_batch_0.ply b/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/geometry_sampling_0_iter_16_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..5a958427cc16d9a9903ced3625456ec35eb10e68 Binary files /dev/null and b/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/geometry_sampling_0_iter_16_batch_0.ply differ diff --git a/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/geometry_sampling_0_iter_24_batch_0.ply b/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/geometry_sampling_0_iter_24_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..02cecad776976846a79f063b2a3930b0ccc8a1ce Binary files /dev/null and b/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/geometry_sampling_0_iter_24_batch_0.ply differ diff --git a/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/geometry_sampling_0_iter_32_batch_0.ply b/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/geometry_sampling_0_iter_32_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..a0485a43466673d29b14b4d1afdada100fa04a6d Binary files /dev/null and b/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/geometry_sampling_0_iter_32_batch_0.ply differ diff --git a/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/geometry_sampling_0_iter_40_batch_0.ply b/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/geometry_sampling_0_iter_40_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..c91347362a720ae11c3e5cb4dd0db5e25187bb9d Binary files /dev/null and b/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/geometry_sampling_0_iter_40_batch_0.ply differ diff --git a/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/geometry_sampling_0_iter_48_batch_0.ply b/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/geometry_sampling_0_iter_48_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..ccdc4ad49621e4bb8717a9a3a33b85ec7bffbf1c Binary files /dev/null and b/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/geometry_sampling_0_iter_48_batch_0.ply differ diff --git a/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/geometry_sampling_0_iter_56_batch_0.ply b/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/geometry_sampling_0_iter_56_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..61ac5dc054c4f8e197c50c919553614bb7a1ca49 Binary files /dev/null and b/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/geometry_sampling_0_iter_56_batch_0.ply differ diff --git a/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/geometry_sampling_0_iter_64_batch_0.ply b/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/geometry_sampling_0_iter_64_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..c593fd932e19e890effc8e3a6483c932a095b0be Binary files /dev/null and b/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/geometry_sampling_0_iter_64_batch_0.ply differ diff --git a/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/geometry_sampling_0_iter_72_batch_0.ply b/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/geometry_sampling_0_iter_72_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..d3be6aad0226ab1e721425bea1076484e457d631 Binary files /dev/null and b/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/geometry_sampling_0_iter_72_batch_0.ply differ diff --git a/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/geometry_sampling_0_iter_80_batch_0.ply b/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/geometry_sampling_0_iter_80_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..5c63331f9a006d7aa13f406fddaa1074d3fd9ffa Binary files /dev/null and b/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/geometry_sampling_0_iter_80_batch_0.ply differ diff --git a/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/geometry_sampling_0_iter_8_batch_0.ply b/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/geometry_sampling_0_iter_8_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..c1511e533a10cce8325115efa6e161ef80061e6a Binary files /dev/null and b/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/geometry_sampling_0_iter_8_batch_0.ply differ diff --git a/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/gripper_batch_-1.npz b/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/gripper_batch_-1.npz new file mode 100644 index 0000000000000000000000000000000000000000..9ce36152959abe22c71034eb1361895e7ee7161d --- /dev/null +++ b/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/gripper_batch_-1.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:06e1a90f2c8f0d72e4a7f26e366cefa1546081a79adf935e2770ad62b4d16ed8 +size 2903 diff --git a/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_0_batch_0.ply b/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_0_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..dfe9fa48066eb01c2a49253ce7b44bd3cf2c167d Binary files /dev/null and b/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_0_batch_0.ply differ diff --git a/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_16_batch_0.ply b/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_16_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..f47fba801d26a0c1266fe8d7a06a300813266af2 Binary files /dev/null and b/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_16_batch_0.ply differ diff --git a/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_24_batch_0.ply b/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_24_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..e90f2aac3dd4b378e2db635f53260e01c62f5f43 Binary files /dev/null and b/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_24_batch_0.ply differ diff --git a/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_32_batch_0.ply b/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_32_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..158107bfabaaf97d230837ba36aa2949abaf3fae Binary files /dev/null and b/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_32_batch_0.ply differ diff --git a/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_40_batch_0.ply b/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_40_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..7cc47490742b8a8a15c3556853ffc8397883ec67 Binary files /dev/null and b/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_40_batch_0.ply differ diff --git a/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_48_batch_0.ply b/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_48_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..8231a158d678015dc750b379cc58200770cd92ab Binary files /dev/null and b/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_48_batch_0.ply differ diff --git a/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_56_batch_0.ply b/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_56_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..17529cd46d705d7c59d39b5fcb36e9d03d4b3454 Binary files /dev/null and b/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_56_batch_0.ply differ diff --git a/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_64_batch_0.ply b/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_64_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..abda6a5f92955fcac10a5bc9b4c1a59a4dfaacc9 Binary files /dev/null and b/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_64_batch_0.ply differ diff --git a/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_72_batch_0.ply b/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_72_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..d8a5183575cc434eea1edd549fc82a4508efb5c7 Binary files /dev/null and b/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_72_batch_0.ply differ diff --git a/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_80_batch_0.ply b/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_80_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..2cdeb40e8d626733791c0e3e1060d1a54d7046e9 Binary files /dev/null and b/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_80_batch_0.ply differ diff --git a/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_8_batch_0.ply b/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_8_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..89bb59816e967705a9680d60a6e99be293647b32 Binary files /dev/null and b/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_8_batch_0.ply differ diff --git a/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/training.log b/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/training.log new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/training_log.csv b/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/training_log.csv new file mode 100644 index 0000000000000000000000000000000000000000..3fc034cfbada6d70e3a15e930870aaeb1c9e8960 --- /dev/null +++ b/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/training_log.csv @@ -0,0 +1 @@ +phase,sampling_step,local_iter,batch_idx,sap_epoch,sap_loss,sap_inputs_grad_norm,sap_lr,sap_num_points,softzoo_loss,softzoo_grad_norm,softzoo_reward,softzoo_mean_loss,softzoo_scaled_mean_grad_norm,loss,grad_norm,note diff --git a/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/viz_gripper_dir/gripper_idx0_design_0.0024641386698931456_sim_0.0006588525706541763.ply b/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/viz_gripper_dir/gripper_idx0_design_0.0024641386698931456_sim_0.0006588525706541763.ply new file mode 100644 index 0000000000000000000000000000000000000000..42fd079405cd68c642ce71d93181684ebb1ec4da --- /dev/null +++ b/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/viz_gripper_dir/gripper_idx0_design_0.0024641386698931456_sim_0.0006588525706541763.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c1fc8a9ae889bbf8b252a876e5dc18e7728193d8d3e36ffd37c64f28d6dad643 +size 960706 diff --git a/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/viz_gripper_dir/gripper_idx12_design_0.0023005621042102575_sim_0.0006595957612440552.ply b/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/viz_gripper_dir/gripper_idx12_design_0.0023005621042102575_sim_0.0006595957612440552.ply new file mode 100644 index 0000000000000000000000000000000000000000..9e2f3c1a28e7cb3dfe778b33a558db2511c63049 --- /dev/null +++ b/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/viz_gripper_dir/gripper_idx12_design_0.0023005621042102575_sim_0.0006595957612440552.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8988be6a339318dd040768c9eafa85d69d207b5bef40e80b5176e482e6254594 +size 960706 diff --git a/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/viz_gripper_dir/gripper_idx24_design_0.0022212525364011526_sim_0.0006594971336171153.ply b/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/viz_gripper_dir/gripper_idx24_design_0.0022212525364011526_sim_0.0006594971336171153.ply new file mode 100644 index 0000000000000000000000000000000000000000..97305088e0ae35efdbd47d5287adfd4b78ef9842 --- /dev/null +++ b/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/viz_gripper_dir/gripper_idx24_design_0.0022212525364011526_sim_0.0006594971336171153.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:21bf1202d0f700d8d5a7e825f7d4ac2bc54a0588e2114bd4ef12a7c396e68846 +size 960706 diff --git a/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/viz_gripper_dir/gripper_idx36_design_0.0021469660568982363_sim_0.0006590272490275549.ply b/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/viz_gripper_dir/gripper_idx36_design_0.0021469660568982363_sim_0.0006590272490275549.ply new file mode 100644 index 0000000000000000000000000000000000000000..6b02e7daecfec64cb8a3d78969f8071172ed91c7 --- /dev/null +++ b/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/viz_gripper_dir/gripper_idx36_design_0.0021469660568982363_sim_0.0006590272490275549.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fa8ceccb1b8baa789f987a4a24adff057523131b7b8a58b33c13c4f5c952121f +size 960706 diff --git a/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/viz_gripper_dir/gripper_idx48_design_0.002063241321593523_sim_0.0006586845949574949.ply b/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/viz_gripper_dir/gripper_idx48_design_0.002063241321593523_sim_0.0006586845949574949.ply new file mode 100644 index 0000000000000000000000000000000000000000..1fba775ca184cb5969f3c128508d4f75390f37da --- /dev/null +++ b/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/viz_gripper_dir/gripper_idx48_design_0.002063241321593523_sim_0.0006586845949574949.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e7374bf40fc234089be8eb54434244b7c115f46d4a712f7e38e9af89b86e1cde +size 960706 diff --git a/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/viz_gripper_dir/gripper_idx60_design_0.0019784721080213785_sim_0.000658257785550454.ply b/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/viz_gripper_dir/gripper_idx60_design_0.0019784721080213785_sim_0.000658257785550454.ply new file mode 100644 index 0000000000000000000000000000000000000000..42fc3087195d5a06ffd94fb2f47885afd45302f0 --- /dev/null +++ b/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/viz_gripper_dir/gripper_idx60_design_0.0019784721080213785_sim_0.000658257785550454.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2e624d111a030500c4e3715449940f0f2d2b40565ad9edef009fe0c44a15a595 +size 960706 diff --git a/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/viz_gripper_dir/gripper_idx72_design_0.0019958142656832933_sim_0.0006581517276153469.ply b/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/viz_gripper_dir/gripper_idx72_design_0.0019958142656832933_sim_0.0006581517276153469.ply new file mode 100644 index 0000000000000000000000000000000000000000..f8e3d8026f84262b65623d791d7f0210cccdd78d --- /dev/null +++ b/20260114_023514_noprompt_lessangled_gumbel_hand_geo3e-2_topo3e-2_accum3_seed569/viz_gripper_dir/gripper_idx72_design_0.0019958142656832933_sim_0.0006581517276153469.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:66e6c4f221cdef6bab355f1c6b63702581ce4feaa1b8d73a6d9bcef06da2a0c8 +size 943480