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20251216_035321_consistent_pcd_fixed_lrdecay_branching_optim_geo_1e-2_topo_1e-2_designer_1e2_seed56/cmd_config.yaml

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+accum_grad_sim: 6
+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: consistent_pcd_fixed_lrdecay_branching_optim_geo_1e-2_topo_1e-2_designer_1e2
+fixed_v_file: gripping_5_HTP.json
+geometry_lr: 0.01
+grad_clipping: null
+gumbel: true
+init_emb_path: asset/embeddings/stump_branching_gripper_updated.npz
+max_epoch: 1000
+object_set_file: objects_set_a.json
+optim_config_path: config/debug_server.yaml
+seed: 56
+topo_lr: 0.01

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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
+
+preload_emb:
+  condition_embedding: 
+    shape: [1,3,224,224]
+    path: asset/img_asset/ver_rec.png
+    random: False
+  diffusion_noise: 
+    shape: [2,6,1024]
+    path: asset/embeddings/base_noise_cone.npy
+  upsample_noise: 
+    shape: [1,6,3072]
+    path: asset/embeddings/upsample_noise_cone.npy
+
+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
+  save_every_iter: *log_freq
+  render_every_iter: *log_freq
+  n_iters: 301
+  n_frames: 100
+
+  controller_type: all_on
+  active: True
+  action_v_strength: 0.35
+
+  loss_types: [ObjectBalancedLoss,ContactLoss,DiffOrientationLoss]
+  loss_coefs: [1.0,1.0,1.0]
+  obj_x_mul: [0.,1.,0.]
+  obj_particle_id: 2
+
+  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
+
+pointe_config:
+  base_model_name: base40M
+  device: cuda:1
+  guidance_scale: [3.0, 0.0]
+  num_points: [1024, 3072]
+  sampling_mode: ddim
+  

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