diff --git a/.gitattributes b/.gitattributes
index 6a51ece5ee8d79ae8f6fe1e9315d704eaeb73b02..9bd29295e2aad93341fb7353bdaa6bd9573e8163 100644
--- a/.gitattributes
+++ b/.gitattributes
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diff --git a/20260114_103135_noprompt_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed569/cmd_config.yaml b/20260114_103135_noprompt_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed569/cmd_config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..a5afc704defc51158a3fc4908f42c1bd34145eb6
--- /dev/null
+++ b/20260114_103135_noprompt_lessangled005_hand_geo5e-2_topo5e-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_lessangled005_hand_geo5e-2_topo5e-2_accum3
+fixed_v_file: gripping_5_HTP.json
+geometry_lr: 0.05
+grad_clipping: 1.0
+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_1.json
+optim_config_path: config/optimization_config/hand2/less_spread_no_prompt.yaml
+patience: 10
+seed: 569
+stop_mode: min
+topo_lr: 0.05
+viewpoint:
+- -1.0
+- -0.25
+- -0.1
+zero_grad_dims:
+- 8
+- 9
+- 10
+- 11
diff --git a/20260114_103135_noprompt_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed569/config.yaml b/20260114_103135_noprompt_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed569/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..b315e4d57fbfa4395777a5bdbedc57621e88e2ae
--- /dev/null
+++ b/20260114_103135_noprompt_lessangled005_hand_geo5e-2_topo5e-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-4,1.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: [1.e-2,0.05,0.05]
+
+  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_103135_noprompt_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed569/embeddings/gripper_idx0_design_0.004440365359187126_sim_0.0005911548644925263.npz b/20260114_103135_noprompt_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed569/embeddings/gripper_idx0_design_0.004440365359187126_sim_0.0005911548644925263.npz
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@@ -0,0 +1,3 @@
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+size 1252
diff --git a/20260114_103135_noprompt_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0000_Local_0000.mp4 b/20260114_103135_noprompt_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0000_Local_0000.mp4
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 435553
diff --git a/20260114_103135_noprompt_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0000_Local_0001.mp4 b/20260114_103135_noprompt_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0000_Local_0001.mp4
new file mode 100644
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 507478
diff --git a/20260114_103135_noprompt_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0000_Local_0002.mp4 b/20260114_103135_noprompt_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed569/softzoo/Ep_Batch_-1_Sampling_0000_Local_0002.mp4
new file mode 100644
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 458782
diff --git a/20260114_103135_noprompt_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed569/softzoo/ckpt/args.json b/20260114_103135_noprompt_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed569/softzoo/ckpt/args.json
new file mode 100644
index 0000000000000000000000000000000000000000..cd362951024de0678b22dc4ae2b96903cb3d8efe
--- /dev/null
+++ b/20260114_103135_noprompt_lessangled005_hand_geo5e-2_topo5e-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,
+        0.05,
+        0.05
+    ],
+    "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": [
+        0.0001,
+        0.0001,
+        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_103135_noprompt_lessangled005_hand_geo5e-2_topo5e-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_103135_noprompt_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed569/softzoo/ckpt/env_config.yaml b/20260114_103135_noprompt_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed569/softzoo/ckpt/env_config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..06709cfa16326e84350be5a02d28231f8ad1c0d7
--- /dev/null
+++ b/20260114_103135_noprompt_lessangled005_hand_geo5e-2_topo5e-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_103135_noprompt_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed569/softzoo/design/geometry_sampling_0_iter_0_batch_0.ply b/20260114_103135_noprompt_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed569/softzoo/design/geometry_sampling_0_iter_0_batch_0.ply
new file mode 100644
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diff --git a/20260114_103135_noprompt_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed569/softzoo/design/gripper_batch_-1.npz b/20260114_103135_noprompt_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed569/softzoo/design/gripper_batch_-1.npz
new file mode 100644
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:535fdd544ccbed2f7ca201d2f92bdcc736756aafdd5d8431ac8f40279cb9c3d5
+size 1252
diff --git a/20260114_103135_noprompt_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_0_batch_0.ply b/20260114_103135_noprompt_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed569/softzoo/design/mesh_sampling_0_iter_0_batch_0.ply
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diff --git a/20260114_103135_noprompt_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed569/training.log b/20260114_103135_noprompt_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed569/training.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/20260114_103135_noprompt_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed569/training_log.csv b/20260114_103135_noprompt_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed569/training_log.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3fc034cfbada6d70e3a15e930870aaeb1c9e8960
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+++ b/20260114_103135_noprompt_lessangled005_hand_geo5e-2_topo5e-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_103135_noprompt_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed569/viz_gripper_dir/gripper_idx0_design_0.004440365359187126_sim_0.0005911548644925263.ply b/20260114_103135_noprompt_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed569/viz_gripper_dir/gripper_idx0_design_0.004440365359187126_sim_0.0005911548644925263.ply
new file mode 100644
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3af3aad6b908e71ffcfc39026fdc0f0439e69e004bbb49e2d8a97a22fd28a2a8
+size 960706
diff --git a/20260114_103452_prompt_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed569/cmd_config.yaml b/20260114_103452_prompt_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed569/cmd_config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..d719fe3bbebc413c39ba033a8936a936f90c5df9
--- /dev/null
+++ b/20260114_103452_prompt_lessangled005_hand_geo5e-2_topo5e-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_lessangled005_hand_geo5e-2_topo5e-2_accum3
+fixed_v_file: gripping_5_HTP.json
+geometry_lr: 0.05
+grad_clipping: 1.0
+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_1.json
+optim_config_path: config/optimization_config/hand2/less_spread_prompt.yaml
+patience: 10
+seed: 569
+stop_mode: min
+topo_lr: 0.05
+viewpoint:
+- -1.0
+- -0.25
+- -0.1
+zero_grad_dims:
+- 8
+- 9
+- 10
+- 11
diff --git a/20260114_103452_prompt_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed569/config.yaml b/20260114_103452_prompt_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed569/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..a1f1c746c69344fa77ed6e3198ae615ad9435176
--- /dev/null
+++ b/20260114_103452_prompt_lessangled005_hand_geo5e-2_topo5e-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-4,1.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: [1.e-2,0.05,1.e-5,0.05]
+
+  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
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diff --git a/20260114_103452_prompt_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed569/softzoo/ckpt/args.json b/20260114_103452_prompt_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed569/softzoo/ckpt/args.json
new file mode 100644
index 0000000000000000000000000000000000000000..373894c1a92a9d3abd7add1be91cd2ad756f304d
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@@ -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": [
+        0.01,
+        0.05,
+        1e-05,
+        0.05
+    ],
+    "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": [
+        0.0001,
+        0.0001,
+        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_103452_prompt_lessangled005_hand_geo5e-2_topo5e-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_103452_prompt_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed569/softzoo/ckpt/env_config.yaml b/20260114_103452_prompt_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed569/softzoo/ckpt/env_config.yaml
new file mode 100644
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--- /dev/null
+++ b/20260114_103452_prompt_lessangled005_hand_geo5e-2_topo5e-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
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diff --git a/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/config.yaml b/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..b315e4d57fbfa4395777a5bdbedc57621e88e2ae
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+++ b/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/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-4,1.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: [1.e-2,0.05,0.05]
+
+  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
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+        -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_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/ckpt/env_config.yaml b/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/ckpt/env_config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..06709cfa16326e84350be5a02d28231f8ad1c0d7
--- /dev/null
+++ b/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/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
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