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@@ -5005,3 +5005,53 @@ single_optim_geo_1e-1_topo_2e-1_designer_1e1_seed33/viz_gripper_dir/gripper_idx9
 20251218_145513_design_loss_expand_branching_optim_geo_2e-2_topo_2e-2_designer_1e2_seed56/viz_gripper_dir/gripper_idx72_design_tensor(\[0.1165\],[[:space:]]grad_fn=<AddBackward0>)_sim_0.09143209100626615.ply filter=lfs diff=lfs merge=lfs -text
 20251218_145513_design_loss_expand_branching_optim_geo_2e-2_topo_2e-2_designer_1e2_seed56/viz_gripper_dir/gripper_idx84_design_tensor(\[0.1184\],[[:space:]]grad_fn=<AddBackward0>)_sim_0.09268508215195026.ply filter=lfs diff=lfs merge=lfs -text
 20251218_145513_design_loss_expand_branching_optim_geo_2e-2_topo_2e-2_designer_1e2_seed56/viz_gripper_dir/gripper_idx96_design_tensor(\[0.1189\],[[:space:]]grad_fn=<AddBackward0>)_sim_0.08999604736800342.ply filter=lfs diff=lfs merge=lfs -text
+20251219_025837_des_reduced_single_optim_geo_2e-2_topo_2e-2_designer_1e1_seed566/softzoo/Ep_Batch_-1_Sampling_0000_Local_0000.mp4 filter=lfs diff=lfs merge=lfs -text
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20251218_145453_design_loss_expand_single_optim_geo_2e-2_topo_2e-2_designer_1e2_seed566/training.log

@@ -10852,3 +10852,113 @@
 2025-12-19 02:29:15,080 [WARNING] Cluster 78 has too few points (0).
 2025-12-19 02:29:15,080 [WARNING] Cluster 79 has too few points (0).
 2025-12-19 02:29:15,080 [WARNING] Cluster 80 has too few points (0).
+2025-12-19 02:32:10,165 [WARNING] Warning!!!!: 
+ The number of actuators 81 must be equal to the number of generated labels 57. Probllem in configuration files
+2025-12-19 02:32:10,314 [WARNING] Cluster 57 has too few points (0).
+2025-12-19 02:32:10,314 [WARNING] Cluster 58 has too few points (0).
+2025-12-19 02:32:10,314 [WARNING] Cluster 59 has too few points (0).
+2025-12-19 02:32:10,314 [WARNING] Cluster 60 has too few points (0).
+2025-12-19 02:32:10,314 [WARNING] Cluster 61 has too few points (0).
+2025-12-19 02:32:10,314 [WARNING] Cluster 62 has too few points (0).
+2025-12-19 02:32:10,314 [WARNING] Cluster 63 has too few points (0).
+2025-12-19 02:32:10,314 [WARNING] Cluster 64 has too few points (0).
+2025-12-19 02:32:10,314 [WARNING] Cluster 65 has too few points (0).
+2025-12-19 02:32:10,314 [WARNING] Cluster 66 has too few points (0).
+2025-12-19 02:32:10,314 [WARNING] Cluster 67 has too few points (0).
+2025-12-19 02:32:10,314 [WARNING] Cluster 68 has too few points (0).
+2025-12-19 02:32:10,314 [WARNING] Cluster 69 has too few points (0).
+2025-12-19 02:32:10,314 [WARNING] Cluster 70 has too few points (0).
+2025-12-19 02:32:10,314 [WARNING] Cluster 71 has too few points (0).
+2025-12-19 02:32:10,314 [WARNING] Cluster 72 has too few points (0).
+2025-12-19 02:32:10,314 [WARNING] Cluster 73 has too few points (0).
+2025-12-19 02:32:10,314 [WARNING] Cluster 74 has too few points (0).
+2025-12-19 02:32:10,314 [WARNING] Cluster 75 has too few points (0).
+2025-12-19 02:32:10,314 [WARNING] Cluster 76 has too few points (0).
+2025-12-19 02:32:10,314 [WARNING] Cluster 77 has too few points (0).
+2025-12-19 02:32:10,314 [WARNING] Cluster 78 has too few points (0).
+2025-12-19 02:32:10,314 [WARNING] Cluster 79 has too few points (0).
+2025-12-19 02:32:10,314 [WARNING] Cluster 80 has too few points (0).
+2025-12-19 02:35:00,173 [WARNING] Warning!!!!: 
+ The number of actuators 81 must be equal to the number of generated labels 37. Probllem in configuration files
+2025-12-19 02:35:00,275 [WARNING] Cluster 37 has too few points (0).
+2025-12-19 02:35:00,275 [WARNING] Cluster 38 has too few points (0).
+2025-12-19 02:35:00,275 [WARNING] Cluster 39 has too few points (0).
+2025-12-19 02:35:00,275 [WARNING] Cluster 40 has too few points (0).
+2025-12-19 02:35:00,275 [WARNING] Cluster 41 has too few points (0).
+2025-12-19 02:35:00,275 [WARNING] Cluster 42 has too few points (0).
+2025-12-19 02:35:00,275 [WARNING] Cluster 43 has too few points (0).
+2025-12-19 02:35:00,275 [WARNING] Cluster 44 has too few points (0).
+2025-12-19 02:35:00,275 [WARNING] Cluster 45 has too few points (0).
+2025-12-19 02:35:00,275 [WARNING] Cluster 46 has too few points (0).
+2025-12-19 02:35:00,275 [WARNING] Cluster 47 has too few points (0).
+2025-12-19 02:35:00,275 [WARNING] Cluster 48 has too few points (0).
+2025-12-19 02:35:00,275 [WARNING] Cluster 49 has too few points (0).
+2025-12-19 02:35:00,275 [WARNING] Cluster 50 has too few points (0).
+2025-12-19 02:35:00,275 [WARNING] Cluster 51 has too few points (0).
+2025-12-19 02:35:00,275 [WARNING] Cluster 52 has too few points (0).
+2025-12-19 02:35:00,275 [WARNING] Cluster 53 has too few points (0).
+2025-12-19 02:35:00,275 [WARNING] Cluster 54 has too few points (0).
+2025-12-19 02:35:00,276 [WARNING] Cluster 55 has too few points (0).
+2025-12-19 02:35:00,276 [WARNING] Cluster 56 has too few points (0).
+2025-12-19 02:35:00,276 [WARNING] Cluster 57 has too few points (0).
+2025-12-19 02:35:00,276 [WARNING] Cluster 58 has too few points (0).
+2025-12-19 02:35:00,276 [WARNING] Cluster 59 has too few points (0).
+2025-12-19 02:35:00,276 [WARNING] Cluster 60 has too few points (0).
+2025-12-19 02:35:00,276 [WARNING] Cluster 61 has too few points (0).
+2025-12-19 02:35:00,276 [WARNING] Cluster 62 has too few points (0).
+2025-12-19 02:35:00,276 [WARNING] Cluster 63 has too few points (0).
+2025-12-19 02:35:00,276 [WARNING] Cluster 64 has too few points (0).
+2025-12-19 02:35:00,276 [WARNING] Cluster 65 has too few points (0).
+2025-12-19 02:35:00,276 [WARNING] Cluster 66 has too few points (0).
+2025-12-19 02:35:00,276 [WARNING] Cluster 67 has too few points (0).
+2025-12-19 02:35:00,276 [WARNING] Cluster 68 has too few points (0).
+2025-12-19 02:35:00,276 [WARNING] Cluster 69 has too few points (0).
+2025-12-19 02:35:00,276 [WARNING] Cluster 70 has too few points (0).
+2025-12-19 02:35:00,276 [WARNING] Cluster 71 has too few points (0).
+2025-12-19 02:35:00,276 [WARNING] Cluster 72 has too few points (0).
+2025-12-19 02:35:00,276 [WARNING] Cluster 73 has too few points (0).
+2025-12-19 02:35:00,276 [WARNING] Cluster 74 has too few points (0).
+2025-12-19 02:35:00,276 [WARNING] Cluster 75 has too few points (0).
+2025-12-19 02:35:00,276 [WARNING] Cluster 76 has too few points (0).
+2025-12-19 02:35:00,276 [WARNING] Cluster 77 has too few points (0).
+2025-12-19 02:35:00,276 [WARNING] Cluster 78 has too few points (0).
+2025-12-19 02:35:00,276 [WARNING] Cluster 79 has too few points (0).
+2025-12-19 02:35:00,276 [WARNING] Cluster 80 has too few points (0).
+2025-12-19 02:37:46,002 [WARNING] Warning!!!!: 
+ The number of actuators 81 must be equal to the number of generated labels 45. Probllem in configuration files
+2025-12-19 02:37:46,122 [WARNING] Cluster 45 has too few points (0).
+2025-12-19 02:37:46,122 [WARNING] Cluster 46 has too few points (0).
+2025-12-19 02:37:46,122 [WARNING] Cluster 47 has too few points (0).
+2025-12-19 02:37:46,122 [WARNING] Cluster 48 has too few points (0).
+2025-12-19 02:37:46,122 [WARNING] Cluster 49 has too few points (0).
+2025-12-19 02:37:46,122 [WARNING] Cluster 50 has too few points (0).
+2025-12-19 02:37:46,122 [WARNING] Cluster 51 has too few points (0).
+2025-12-19 02:37:46,122 [WARNING] Cluster 52 has too few points (0).
+2025-12-19 02:37:46,122 [WARNING] Cluster 53 has too few points (0).
+2025-12-19 02:37:46,122 [WARNING] Cluster 54 has too few points (0).
+2025-12-19 02:37:46,122 [WARNING] Cluster 55 has too few points (0).
+2025-12-19 02:37:46,122 [WARNING] Cluster 56 has too few points (0).
+2025-12-19 02:37:46,122 [WARNING] Cluster 57 has too few points (0).
+2025-12-19 02:37:46,122 [WARNING] Cluster 58 has too few points (0).
+2025-12-19 02:37:46,123 [WARNING] Cluster 59 has too few points (0).
+2025-12-19 02:37:46,123 [WARNING] Cluster 60 has too few points (0).
+2025-12-19 02:37:46,123 [WARNING] Cluster 61 has too few points (0).
+2025-12-19 02:37:46,123 [WARNING] Cluster 62 has too few points (0).
+2025-12-19 02:37:46,123 [WARNING] Cluster 63 has too few points (0).
+2025-12-19 02:37:46,123 [WARNING] Cluster 64 has too few points (0).
+2025-12-19 02:37:46,123 [WARNING] Cluster 65 has too few points (0).
+2025-12-19 02:37:46,123 [WARNING] Cluster 66 has too few points (0).
+2025-12-19 02:37:46,123 [WARNING] Cluster 67 has too few points (0).
+2025-12-19 02:37:46,123 [WARNING] Cluster 68 has too few points (0).
+2025-12-19 02:37:46,123 [WARNING] Cluster 69 has too few points (0).
+2025-12-19 02:37:46,123 [WARNING] Cluster 70 has too few points (0).
+2025-12-19 02:37:46,123 [WARNING] Cluster 71 has too few points (0).
+2025-12-19 02:37:46,123 [WARNING] Cluster 72 has too few points (0).
+2025-12-19 02:37:46,123 [WARNING] Cluster 73 has too few points (0).
+2025-12-19 02:37:46,123 [WARNING] Cluster 74 has too few points (0).
+2025-12-19 02:37:46,123 [WARNING] Cluster 75 has too few points (0).
+2025-12-19 02:37:46,123 [WARNING] Cluster 76 has too few points (0).
+2025-12-19 02:37:46,123 [WARNING] Cluster 77 has too few points (0).
+2025-12-19 02:37:46,123 [WARNING] Cluster 78 has too few points (0).
+2025-12-19 02:37:46,123 [WARNING] Cluster 79 has too few points (0).
+2025-12-19 02:37:46,123 [WARNING] Cluster 80 has too few points (0).

20251218_145513_design_loss_expand_branching_optim_geo_2e-2_topo_2e-2_designer_1e2_seed56/training.log

@@ -3738,3 +3738,19 @@
 2025-12-19 02:29:13,554 [WARNING] Cluster 78 has too few points (0).
 2025-12-19 02:29:13,554 [WARNING] Cluster 79 has too few points (0).
 2025-12-19 02:29:13,555 [WARNING] Cluster 80 has too few points (0).
+2025-12-19 02:32:13,125 [WARNING] Warning!!!!: 
+ The number of actuators 81 must be equal to the number of generated labels 73. Probllem in configuration files
+2025-12-19 02:32:13,316 [WARNING] Cluster 73 has too few points (0).
+2025-12-19 02:32:13,316 [WARNING] Cluster 74 has too few points (0).
+2025-12-19 02:32:13,316 [WARNING] Cluster 75 has too few points (0).
+2025-12-19 02:32:13,316 [WARNING] Cluster 76 has too few points (0).
+2025-12-19 02:32:13,316 [WARNING] Cluster 77 has too few points (0).
+2025-12-19 02:32:13,316 [WARNING] Cluster 78 has too few points (0).
+2025-12-19 02:32:13,316 [WARNING] Cluster 79 has too few points (0).
+2025-12-19 02:32:13,316 [WARNING] Cluster 80 has too few points (0).
+2025-12-19 02:35:16,111 [WARNING] Warning!!!!: 
+ The number of actuators 81 must be equal to the number of generated labels 77. Probllem in configuration files
+2025-12-19 02:35:16,291 [WARNING] Cluster 77 has too few points (0).
+2025-12-19 02:35:16,291 [WARNING] Cluster 78 has too few points (0).
+2025-12-19 02:35:16,291 [WARNING] Cluster 79 has too few points (0).
+2025-12-19 02:35:16,292 [WARNING] Cluster 80 has too few points (0).

20251218_145513_design_loss_expand_branching_optim_geo_2e-2_topo_2e-2_designer_1e2_seed56/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

20251219_025837_des_reduced_single_optim_geo_2e-2_topo_2e-2_designer_1e1_seed566/cmd_config.yaml

@@ -0,0 +1,19 @@
+accum_grad_sim: 3
+designer_scale: 10.0
+designer_type: single
+device: cuda:0
+env_config: gripping_a_5_HTP_a_0.5_-0.5_-0.5_0.5_a_0.5.yaml
+exp_name: des_reduced_single_optim_geo_2e-2_topo_2e-2_designer_1e1
+fixed_v_file: gripping_5_HTP.json
+geometry_lr: 0.02
+grad_clipping: null
+gumbel: true
+init_emb_path: asset/embeddings/stump_single_gripper_updated.npz
+max_epoch: 1000
+object_set_file: objects_set_a.json
+optim_config_path: config/optimization_config/designer_reduced.yaml
+seed: 566
+topo_lr: 0.02
+zero_grad_dims:
+- 10
+- 11

20251219_025837_des_reduced_single_optim_geo_2e-2_topo_2e-2_designer_1e1_seed566/config.yaml

@@ -0,0 +1,62 @@
+exp_name: debug_server
+seed: &seed 22
+out_dir: ./logs/
+tensorboard_log_dir: runs/
+save_every_iter: &log_freq 12
+total_steps: 512 # Check diffusion_cfg to see how many steps there are in diffusion (normal diffusion + upsampler)
+substep_count: 1 # remember to update in diffusion config in pointe, under the k keys
+
+cond_config:
+  - name: "SoftZoo_Sim"
+    grad_scale: !!float 1e6
+    grad_clamp: !!float 1e0
+    calc_gradient: True
+    logging_bool: True
+  # - name: "Dist_To_Origin"
+  #   grad_scale: !!float 1e0
+  #   grad_clamp: !!float 1e-2
+  #   calc_gradient: True
+  #   logging_bool: True
+cond_overall_logging: True
+
+softzoo_config:
+  custom_gravity: False
+  # eval: True
+  out_dir: null # Placeholder, need to be set in run.py
+  fixed_v: gripping_5_HTP.json
+  objects_set_file: 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,ThrowingObjectLoss]
+  loss_coefs: [1.0,0.5,2.0]
+  obj_x_mul: [0.,1.,0.]
+  obj_particle_id: 2
+
+  design_loss_types:  ['FingerPenLoss','SegmentGrowthLoss','BasePenLoss']
+  design_loss_coeffs: [2.0,1.0,0.5]
+
+  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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+    "action_space": "actuation",
+    "action_v_strength": 0.35,
+    "active": true,
+    "actuation_activation": "linear",
+    "actuation_omega": [
+        30.0
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+    "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"
+    ],
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+    "controller_mlp_activation": "Tanh",
+    "controller_mlp_final_activation": null,
+    "controller_mlp_hidden_filters": [
+        32,
+        32
+    ],
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+        "com",
+        "objective"
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+    "controller_type": "all_on",
+    "cppn_activation_options": [
+        "sin",
+        "sigmoid"
+    ],
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+    "cppn_coord_input_names": [
+        "x",
+        "y",
+        "z",
+        "d_xy",
+        "d_yz",
+        "d_xz",
+        "d_xyz"
+    ],
+    "cppn_n_hiddens": 3,
+    "cppn_seed_meshes": [],
+    "custom_gravity": false,
+    "design_device": "cpu",
+    "design_loss_coeffs": [
+        2.0,
+        1.0,
+        0.5
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+        "FingerPenLoss",
+        "SegmentGrowthLoss",
+        "BasePenLoss"
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+    "designer_softness_offset": 0.5,
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+    "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,
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+            0.1,
+            1.5
+        ],
+        "min": [
+            -1.5,
+            -3.5,
+            -1.5
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+    ],
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+    "load_controller": null,
+    "load_designer": null,
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+    "log_reward": false,
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+        2.0
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+    "loss_landscape_vbr_grid_index": [
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+        0,
+        0
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+        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"
+    ],
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+        32,
+        32
+    ],
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+    "n_frames": 100,
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+    "n_sin_waves": 4,
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+    "optimize_controller": true,
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+        "geometry",
+        "softness_E",
+        "softness_v",
+        "suction_val"
+    ],
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+    "out_dir": "./logs/20251219_025837_des_reduced_single_optim_geo_2e-2_topo_2e-2_designer_1e1_seed566/softzoo",
+    "recenter_mesh_target": false,
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+    "rotation_up_direction": [
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+        1.0,
+        0.0
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+    "save_controller": false,
+    "save_designer": false,
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+    "sdf_basis_actuator_mul": 1.0,
+    "sdf_basis_coefs_activation": "linear",
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+    "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"
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+    "substep_freq": 100,
+    "torch_seed": 22,
+    "v_following_mode": 0,
+    "v_following_v_mul": [
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+    "x_mul": [
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+        0.0,
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+    ]
+}

20251219_025837_des_reduced_single_optim_geo_2e-2_topo_2e-2_designer_1e1_seed566/softzoo/ckpt/env_config.yaml

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+ENVIRONMENT:
+  use_semantic_occupancy: False
+  CUSTOM:
+    has_matter_on_ground: false
+    matter_id: 4
+    matter_materials: []
+    matter_padding:
+    - 32
+    - 3
+    - 32
+    matter_sample_density: 8
+    matter_semantic_id: 4
+    matter_thickness: 0.02
+    matter_youngs_modulus: 100000.0
+    randomize_terrain: false
+  ITEMS:
+  - semantic_id: 0
+    type: Static.BoundingBox
+  - dampen_coeff: 1.0
+    friction: 0.5
+    max_height: 0.1
+    min_height: 0.1
+    semantic_id: 0
+    surface: Surface.Slip
+    type: Static.Terrain
+  - file_path: /LOCAL3/anguyen/nghiale/Data/mujoco_scanned_objects/models/5_HTP/model.obj
+    ground_height: 0.101
+    initial_position:
+    - 0.55
+    - 0.0
+    - 0.4
+    initial_rotation:
+    - 0.5
+    - -0.5
+    - -0.5
+    - 0.5
+    initial_velocity:
+    - 0.0
+    - 0.0
+    - 0.0
+    material: FakeRigid
+    particle_id: 2
+    sample_density: 16
+    scale:
+    - 0.5
+    - 0.5
+    - 0.5
+    semantic_id: 2
+    type: Primitive.Mesh
+    particle_info:
+        p_rho_0: !!float 7.e+2 # [6e+2, 5e+3]
+  actuation_strength: 0.3
+  design_space: pbr
+  design_space_config:
+    base_shape:
+      initial_position:
+      - 0.55
+      - 0.225
+      - 0.4
+      initial_velocity:
+      - 0.0
+      - 0.0
+      - 0.0
+      material: DiffAquaMuscle
+      particle_id: 3
+      particle_info:
+        E_0: 7.5e+4
+        nu_0: 0.3
+        p_rho_0: 1000.0
+      sample_density: 42
+      semantic_id: 3
+      size:
+      - 0.1
+      - 0.1
+      - 0.1
+      type: Primitive.Box
+    initial_principle_direction:
+    - 1.0
+    - 0.0
+    - 0.0
+    n_actuators: 81
+    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: 81
+  max_num_particles: 55000
+  max_substeps: 17000
+  max_substeps_local: 25
+  needs_grad: true
+  padding:
+  - 28
+  - 3
+  - 28
+  quality: 0.82
+  use_checkpointing: true
+  use_dynamic_field: false

20251219_025837_des_reduced_single_optim_geo_2e-2_topo_2e-2_designer_1e1_seed566/softzoo/design/gripper_batch_-1.npz

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20251219_025946_des_reduced_branching_optim_geo_2e-2_topo_2e-2_designer_1e1_seed67/cmd_config.yaml

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+accum_grad_sim: 3
+designer_scale: 10.0
+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: des_reduced_branching_optim_geo_2e-2_topo_2e-2_designer_1e1
+fixed_v_file: gripping_5_HTP.json
+geometry_lr: 0.02
+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/optimization_config/designer_reduced.yaml
+seed: 67
+topo_lr: 0.02
+zero_grad_dims:
+- 10
+- 11

20251219_025946_des_reduced_branching_optim_geo_2e-2_topo_2e-2_designer_1e1_seed67/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
+  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,ThrowingObjectLoss]
+  loss_coefs: [1.0,0.5,2.0]
+  obj_x_mul: [0.,1.,0.]
+  obj_particle_id: 2
+
+  design_loss_types:  ['FingerPenLoss','SegmentGrowthLoss','BasePenLoss']
+  design_loss_coeffs: [2.0,1.0,0.5]
+
+  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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