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20260121_101556_prompt_nogumbel_extenddesspace_double_geo1e-2_topo1e-2_accum3_seed4343/cmd_config.yaml

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+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_nogumbel_extenddesspace_double_geo1e-2_topo1e-2_accum3
+fixed_v_file: gripping_5_HTP.json
+geometry_lr: 0.01
+grad_clipping: 0.1
+gripper_dim: 12
+gumbel: false
+init_emb_path: asset/embeddings/double_no_suck.npz
+layout_config_file: double.json
+max_epoch: 1200
+min_delta: 0.0
+monitor_metric: eval/sim_loss
+num_fingers: 2
+num_segments: 5
+object_set_file: objects_set_a_1.json
+optim_config_path: config/optimization_config/hand2/pi8penangle_prompt.yaml
+patience: 10
+seed: 4343
+stop_mode: min
+topo_lr: 0.01
+viewpoint:
+- -1.0
+- -0.25
+- -0.1
+zero_grad_dims:
+- 10
+- 11

20260121_101556_prompt_nogumbel_extenddesspace_double_geo1e-2_topo1e-2_accum3_seed4343/config.yaml

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+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-5,1.0]
+  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: [10.0,0.01,1.e-4,0.01]
+
+  seed: *seed  # Placeholder, do not use
+  torch_seed: *seed  # Placeholder, do not use
+  static_as_fixed: True
+  device_memory_fraction: 0.75
+
+  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,-3.0,-1.5]
+
+  design_device: cpu
+  obj_initial_pos: [0,0,0]
+  num_fingers: 2

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