diff --git a/alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/config.yaml b/alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..6472e312628d6494d1ea085991118e97e34e818c --- /dev/null +++ b/alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/config.yaml @@ -0,0 +1,120 @@ +exp_name: alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256 +seed: &seed 310 +out_dir: ./logs/ +tensorboard_log_dir: runs/ +save_every_iter: &log_freq 1 +total_steps: 512 # Check diffusion_cfg to see how many steps there are in diffusion (normal diffusion + upsampler) +substep_count: 3 # remember to update in diffusion config in pointe, under the k keys + +cond_config: + - name: "SoftZoo_Sim" + grad_scale: !!float 1e-3 + grad_clamp: !!float 1e-4 + 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: img_asset/hand.jpg + random: False + diffusion_noise: + shape: [2,6,1024] + path: null + upsample_noise: + shape: [1,6,3072] + path: null + +softzoo_config: + out_dir: null # Placeholder, need to be set in run.py + env_config_file: gripping_env.yaml + save_every_iter: *log_freq + render_every_iter: *log_freq + n_iters: 301 + n_frames: 150 + + controller_type: all_on + action_v_strength: 0.3 + + loss_types: [GrippingObjectLoss] + obj_particle_id: 2 + + seed: *seed # Placeholder, do not use + torch_seed: *seed # Placeholder, do not use + static_as_fixed: True + device_memory_fraction: 0.7 + + optimize_designer: True + optimize_design_types: ['geometry'] + designer_lr: 0.1 + gen_pointe_bounding_box: + max: [0.5,0.5,0.5] + # mean: [0.,0.,0.] + min: [-0.5,-0.5,-0.5] + + design_device: cpu + obj_initial_pos: [0,0,0] + +sap_config: + data: + data_type: point + n_views_per_iter: 2 + zero_level: 0 + + model: + sphere_radius: 0.2 + num_points: 20000 + grid_res: 128 # poisson grid resolution + psr_sigma: 2 + + apply_sigmoid: True + normal_normalize: False + + train: + schedule: + initial: 1e-2 + interval: 200 + factor: 0.5 + final: 1e-3 + + total_epochs: 500 + + w_chamfer: 1. + w_chamfer_v_mesh: 1. + w_chamfer_x_0: 10. + w_inside: 0.1 + w_outside: 1. + + n_sup_point: 20000 + n_grow_points: 2000 + subsample_vertex: False + l_weight: {} + + exp_mesh: True + exp_pcl: True + + resample_every: 75 + + sample: + num_points: 10000 + density: 3.0 + voxel_size: 0.02 + + device: cuda:0 + gradient_alpha: 10.0 + save_every_iter: *log_freq + save_every_sub_iter: 1 + +pointe_config: + base_model_name: base300M + device: cuda:0 + guidance_scale: [3.0, 0.0] + num_points: [1024, 3072] + sampling_mode: ddim + \ No newline at end of file diff --git a/alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/ckpt/args.json b/alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/ckpt/args.json new file mode 100644 index 0000000000000000000000000000000000000000..cb2c6506f1e8f9d238bfaea761663ed88a9b763b --- /dev/null +++ b/alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/ckpt/args.json @@ -0,0 +1,205 @@ +{ + "action_space": "actuation", + "action_v_strength": 0.3, + "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" + ], + "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": [], + "design_device": "cpu", + "designer_geometry_offset": 0.5, + "designer_lr": 0.1, + "designer_softness_offset": 0.5, + "designer_type": "mlp", + "device_memory_fraction": 0.7, + "dump_rendering_data": false, + "env": "land_environment", + "env_config_file": "gripping_env.yaml", + "eval": false, + "final_target_idx": null, + "fixed_v": "default.json", + "gen_pointe_bounding_box": { + "max": [ + 0.5, + 0.5, + 0.5 + ], + "min": [ + -0.5, + -0.5, + -0.5 + ] + }, + "goal": [ + 0.8, + 0.0, + 0.0, + 1700 + ], + "load_args": null, + "load_controller": null, + "load_designer": null, + "load_rl_controller": null, + "log_every_iter": 1, + "log_reward": false, + "loss_coefs": [ + 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": [ + "GrippingObjectLoss" + ], + "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": 150, + "n_iters": 301, + "n_sin_waves": 4, + "non_taichi_device": "torch_cpu", + "obj_initial_pos": [ + 0, + 0, + 0 + ], + "obj_particle_id": 2, + "obj_v_mul": [ + 1.0, + 0.0, + 0.0 + ], + "obj_x_mul": [ + 1.0, + 0.0, + 0.0 + ], + "objective_reward_mode": null, + "optimize_controller": false, + "optimize_design_types": [ + "geometry" + ], + "optimize_designer": true, + "out_dir": "./logs/alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo", + "recenter_mesh_target": false, + "render_every_iter": 1, + "rotation_up_direction": [ + 0.0, + 1.0, + 0.0 + ], + "save_controller": false, + "save_designer": false, + "save_every_iter": 1, + "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": 310, + "set_design_types": [ + "geometry", + "softness", + "actuator", + "actuator_direction", + "is_passive_fixed" + ], + "sin_omega_mul": 10.0, + "static_as_fixed": true, + "substep_freq": 100, + "torch_seed": 310, + "v_following_mode": 0, + "v_following_v_mul": [ + 1.0, + 1.0, + 1.0 + ], + "v_mul": [ + 1.0, + 0.0, + 0.0 + ], + "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/alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/ckpt/env_config.yaml b/alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/ckpt/env_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..060805ec2af39fdc7149768522ce7a51c70f2d55 --- /dev/null +++ b/alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/ckpt/env_config.yaml @@ -0,0 +1,86 @@ +SIMULATOR: + dim: 3 + gravity: [0., -3.8, 0.] + default_dt: 5.e-4 + quality: 1. + padding: [28, 3, 28] + needs_grad: True + use_checkpointing: True + max_substeps_local: 20 + max_substeps: 7000 + max_num_particles: 100000 + use_dynamic_field: False + checkpoint_cache_device: torch_cpu + base_active_materials: [] + max_actuation: 13 +ENVIRONMENT: + objective: move_forward + objective_config: + reward_mode: per_step_velocity + forward_direction: [1., 0., 0.] + max_episode_steps: 400 + ITEMS: + # Terrain + - type: Static.BoundingBox # World boundary + semantic_id: 0 # static obstacle + - type: Static.Terrain + surface: Surface.Slip + semantic_id: 0 # static obstacle + friction: 0.5 + min_height: &ground_height 0.1 + max_height: *ground_height + dampen_coeff: 0.3 # Should be around 0.5-0.6, lower will cause sinking, higher will cause bounce. + - type: Primitive.Mesh + file_path: './obj_placeholder/model.obj' + scale: [0.6,0.6,0.6] + initial_position: [0.55, 0.0, 0.4] + initial_rotation: [0.7071, -0.7071, 0.0, 0.0] + initial_velocity: [0., 0., 0.] + sample_density: 16 + material: FakeRigid + particle_id: 2 + semantic_id: 2 + ground_height: 0.4 + # Environment-specific + use_renderer: False + actuation_strength: 0.3 + observation_space: [time, com] + design_space: pbr + design_space_config: + n_actuators: 13 + initial_principle_direction: [1., 0., 0.] + p_rho_lower_bound_mul: 0.1 + base_shape: + type: Primitive.Box + size: [0.08, 0.08, 0.08] + sample_density: 64 + initial_position: [0.55, 0.345, 0.4] + initial_velocity: [0., 0., 0.] + material: DiffAquaMuscle + particle_id: 3 # used as robot id + particle_info: + p_rho_0: 1.e+3 + E_0: 1.e+4 + semantic_id: 3 + CUSTOM: + randomize_terrain: False + has_matter_on_ground: False + matter_id: 4 + matter_materials: [] + matter_thickness: 0.02 + matter_sample_density: 8 + matter_semantic_id: 4 + matter_youngs_modulus: 1.e+5 + matter_padding: [32, 3, 32] +RENDERER: + type: ggui + GGUI: + ambient_light: [0.5, 0.5, 0.5] + camera_lookat: [0.5, 0.25, 0.5] # horizontal look + camera_position: [0.5, 0.5, 0.0] + particle_radius: 0.002 + particle_coloring_mode: actuation + ground_surface_cmap: textures/ground.png + res: [1920, 1080] + # meshify_particle_ids: [2] + # meshification_colors: [[1.,0.,0.,1.]] diff --git a/alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/geometry_Batch_0_Sampling_0000_Local_0000.pcd b/alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/geometry_Batch_0_Sampling_0000_Local_0000.pcd new file mode 100644 index 0000000000000000000000000000000000000000..75bbeb7efbab2b305f9672323e0ea847fd7d7696 Binary files /dev/null and b/alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/geometry_Batch_0_Sampling_0000_Local_0000.pcd differ diff --git a/alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/geometry_Batch_0_Sampling_0011_Local_0002.pcd b/alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/geometry_Batch_0_Sampling_0011_Local_0002.pcd new file mode 100644 index 0000000000000000000000000000000000000000..feef1117bf5739ddec687d2d6ae079a8285873c0 Binary files /dev/null and b/alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/geometry_Batch_0_Sampling_0011_Local_0002.pcd differ diff --git a/alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/geometry_Batch_0_Sampling_0013_Local_0002.pcd b/alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/geometry_Batch_0_Sampling_0013_Local_0002.pcd new file mode 100644 index 0000000000000000000000000000000000000000..d3e1b26ae7d1deefc4691e23c6be70f90c694843 Binary files /dev/null and b/alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/geometry_Batch_0_Sampling_0013_Local_0002.pcd differ diff --git a/alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/geometry_Batch_0_Sampling_0020_Local_0001.pcd b/alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/geometry_Batch_0_Sampling_0020_Local_0001.pcd new file mode 100644 index 0000000000000000000000000000000000000000..5f488e196ae7ec2d19e9737f8080534c96046f0b Binary files /dev/null and b/alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/geometry_Batch_0_Sampling_0020_Local_0001.pcd differ diff --git a/alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/geometry_Batch_0_Sampling_0021_Local_0001.pcd b/alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/geometry_Batch_0_Sampling_0021_Local_0001.pcd new file mode 100644 index 0000000000000000000000000000000000000000..b5855ca84839da6f604a58a07359417c907d9545 Binary files /dev/null and b/alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/geometry_Batch_0_Sampling_0021_Local_0001.pcd differ diff --git a/alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/geometry_Batch_0_Sampling_0024_Local_0000.pcd b/alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/geometry_Batch_0_Sampling_0024_Local_0000.pcd new file mode 100644 index 0000000000000000000000000000000000000000..cb9060e16631e73d86e15c9f30f2e0ca339358e9 Binary files /dev/null and b/alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/geometry_Batch_0_Sampling_0024_Local_0000.pcd differ diff --git a/alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/geometry_Batch_0_Sampling_0034_Local_0000.pcd b/alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/geometry_Batch_0_Sampling_0034_Local_0000.pcd new file mode 100644 index 0000000000000000000000000000000000000000..3e233cd960cbdf3483f824cbd16d3c842a21c2af Binary files /dev/null and b/alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/geometry_Batch_0_Sampling_0034_Local_0000.pcd differ diff --git a/alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/geometry_Batch_0_Sampling_0044_Local_0000.pcd b/alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/geometry_Batch_0_Sampling_0044_Local_0000.pcd new file mode 100644 index 0000000000000000000000000000000000000000..21967181a9e75eef1afef7f93877e12686c8826b Binary files /dev/null and b/alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/geometry_Batch_0_Sampling_0044_Local_0000.pcd differ diff --git a/alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/geometry_Batch_0_Sampling_0045_Local_0001.pcd b/alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/geometry_Batch_0_Sampling_0045_Local_0001.pcd new file mode 100644 index 0000000000000000000000000000000000000000..4d29d7f747b517fac259df53ce1456abc0e0dbd4 Binary files /dev/null and b/alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/geometry_Batch_0_Sampling_0045_Local_0001.pcd differ diff --git a/alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/geometry_Batch_0_Sampling_0047_Local_0001.pcd b/alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/geometry_Batch_0_Sampling_0047_Local_0001.pcd new file mode 100644 index 0000000000000000000000000000000000000000..29b933d80378b7db083928ddf1f4711555ae895d Binary files /dev/null and b/alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/geometry_Batch_0_Sampling_0047_Local_0001.pcd differ diff --git a/alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/geometry_Batch_0_Sampling_0059_Local_0000.pcd b/alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/geometry_Batch_0_Sampling_0059_Local_0000.pcd new file mode 100644 index 0000000000000000000000000000000000000000..12f4627a9c263a6fb9409ad29a6452e63d838839 Binary files /dev/null and b/alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/geometry_Batch_0_Sampling_0059_Local_0000.pcd differ diff --git a/alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/geometry_Batch_0_Sampling_0062_Local_0002.pcd b/alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/geometry_Batch_0_Sampling_0062_Local_0002.pcd new file mode 100644 index 0000000000000000000000000000000000000000..ca81d5200ba05be0e562f54c3a75aacff4e8a19b Binary files /dev/null and b/alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/geometry_Batch_0_Sampling_0062_Local_0002.pcd differ diff --git a/alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/geometry_Batch_0_Sampling_0069_Local_0001.pcd b/alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/geometry_Batch_0_Sampling_0069_Local_0001.pcd new file mode 100644 index 0000000000000000000000000000000000000000..9c31ea6f80681edd06edc8dcbb3c7fb10ba34c17 Binary files /dev/null and b/alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/geometry_Batch_0_Sampling_0069_Local_0001.pcd differ diff --git a/alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/geometry_Batch_0_Sampling_0074_Local_0002.pcd b/alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/geometry_Batch_0_Sampling_0074_Local_0002.pcd new file mode 100644 index 0000000000000000000000000000000000000000..70788de77aee7ad36780fc17dfc5f40c6c4431b8 Binary files /dev/null and b/alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/geometry_Batch_0_Sampling_0074_Local_0002.pcd differ diff --git a/alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/geometry_Batch_0_Sampling_0075_Local_0002.pcd b/alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/geometry_Batch_0_Sampling_0075_Local_0002.pcd new file mode 100644 index 0000000000000000000000000000000000000000..81d347bde405fe5fd61e258b4223769f9fd50a46 Binary files /dev/null and b/alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/geometry_Batch_0_Sampling_0075_Local_0002.pcd differ diff --git a/alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/geometry_Batch_0_Sampling_0077_Local_0002.pcd b/alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/geometry_Batch_0_Sampling_0077_Local_0002.pcd new file mode 100644 index 0000000000000000000000000000000000000000..0d37692c4231b4876262e0ee36b1fcdfc98699f1 Binary files /dev/null and b/alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/geometry_Batch_0_Sampling_0077_Local_0002.pcd differ diff --git a/alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/geometry_Batch_0_Sampling_0088_Local_0000.pcd b/alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/geometry_Batch_0_Sampling_0088_Local_0000.pcd new file mode 100644 index 0000000000000000000000000000000000000000..d80fb1b4798e60c1964b77c22e00f6a4364be48a Binary files /dev/null and b/alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/geometry_Batch_0_Sampling_0088_Local_0000.pcd differ diff --git a/alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/geometry_Batch_0_Sampling_0088_Local_0001.pcd b/alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/geometry_Batch_0_Sampling_0088_Local_0001.pcd new file mode 100644 index 0000000000000000000000000000000000000000..0c6a513bb54a9585194f5693201ee0aa714574b7 Binary files /dev/null and b/alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/geometry_Batch_0_Sampling_0088_Local_0001.pcd differ diff --git a/alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/geometry_Batch_0_Sampling_0089_Local_0001.pcd b/alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/geometry_Batch_0_Sampling_0089_Local_0001.pcd new file mode 100644 index 0000000000000000000000000000000000000000..7dd35cfc002a1c81eea19e934815cf2fa44693d2 Binary files /dev/null and b/alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/geometry_Batch_0_Sampling_0089_Local_0001.pcd differ diff --git a/alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/geometry_Batch_0_Sampling_0091_Local_0001.pcd b/alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/geometry_Batch_0_Sampling_0091_Local_0001.pcd new file mode 100644 index 0000000000000000000000000000000000000000..a5eca2d194f534b727a451ea35779a982df5d2e9 Binary files /dev/null and b/alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/geometry_Batch_0_Sampling_0091_Local_0001.pcd differ diff --git a/alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/geometry_Batch_0_Sampling_0093_Local_0001.pcd b/alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/geometry_Batch_0_Sampling_0093_Local_0001.pcd new file mode 100644 index 0000000000000000000000000000000000000000..be28f7b90e01c580f525cad1550c4377fda7f7d8 Binary files /dev/null and b/alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/geometry_Batch_0_Sampling_0093_Local_0001.pcd differ diff --git a/alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/geometry_Batch_0_Sampling_0094_Local_0001.pcd b/alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/geometry_Batch_0_Sampling_0094_Local_0001.pcd new file mode 100644 index 0000000000000000000000000000000000000000..305b9aa7a6332cbe94b416eed24cfd8b921a3975 Binary files /dev/null and b/alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/geometry_Batch_0_Sampling_0094_Local_0001.pcd differ diff --git a/alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/mesh_Batch_0_Sampling_0001_Local_0002.ply b/alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/mesh_Batch_0_Sampling_0001_Local_0002.ply new file mode 100644 index 0000000000000000000000000000000000000000..d448ce0804d10901a3ce6b4bf2e61bac217facf5 --- /dev/null +++ b/alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/mesh_Batch_0_Sampling_0001_Local_0002.ply @@ -0,0 +1,157 @@ +ply +format binary_little_endian 1.0 +comment Created by Open3D +element vertex 1698 +property double x +property double y +property double z +element face 3484 +property list uchar uint vertex_indices +end_header +J ~)? (?y?]`3?Sd?y?]`3? (?SUu?J ~)? (?/Ğ?]`3?Sd?/Ğ?]`3? (?~a?]`3?x&1?y?]`3?x&1?/Ğ?]`3?9V?~a?J ~)?9V? %?]`3?x&1? %?J ~)?9V?Zd[?]`3?x&1?Zd[?]`3?9V?$n?J ~)?I 4?/Ğ?]`3?~j|q?/Ğ?]`3?I 4?Zd;ۜ?]`3?~j|q? %?]`3?I 4?~a?]`3?~j|q?Zd[?]`3?z?/Ğ?]`3?;O ?~a?J ~)?;O ? %?]`3?z? %?]`3?;O ?\5?J ~)?;O ?/=>v?]`3?z?/=>v?]`3?;O ?O{b?J ~)?;O ? rĝ?]`3?z? rĝ?]`3?;O ?z?]`3?~!? %?]`3?~!?/=>v?]`3?~!? rĝ? +ףA=?7Ao?y?kt#G?v[?y?kt#G?7Ao?SUu?kt#G?7Ao?Zd;ۜ? +ףA=?7Ao?Zd[?kt#G?v[?Zd[?kt#G?7Ao?\5? +ףA=?7Ao?罹1'?kt#G?v[?罹1'?kt#G?7Ao?^I:? +ףA=? (?n :?kt#G?Sd?n :?kt#G? (?֣pH&?kt#G? (?X9M?kt#G? (?SUu?kt#G?Sd?/Ğ? +ףA=? (? %?kt#G?Sd? %? +ףA=? (?Zd[? +ףA=? (?罹1'?kt#G?Sd?N? +ףA=? (?N?kt#G? (?O{b?kt#G?x&1?n :?kt#G?x&1?y? +ףA=?9V?/Ğ?kt#G?9V?Zd;ۜ? +ףA=?9V?罹1'?kt#G?9V?^I:?kt#G?x&1?N?kt#G?9V?O{b? +ףA=?9V?/=>v?kt#G?x&1?/=>v? +ףA=?9V? rĝ?kt#G?x&1? rĝ?kt#G?9V?z? +ףA=?I 4?CL?kt#G?~j|q?CL?kt#G?I 4?x&v?kt#G?I 4?O{b?kt#G?I 4?`b?kt#G?~j|q? rĝ?kt#G?z?CL? +ףA=?;O ?y?kt#G?z?y?kt#G?;O ?SUu? +ףA=?;O ?/Ğ? +ףA=?;O ? %?kt#G?z? %?kt#G?;O ?~a? +ףA=?;O ?Zd[?kt#G?;O ?\5? +ףA=?;O ?罹1'?kt#G?z?N? +ףA=?;O ?N?kt#G?;O ?`b? +ףA=?;O ? rĝ?kt#G?~!?y?kt#G?~!?/Ğ? +ףA=?t8A5? %?kt#G?~!? %?kt#G?t8A5?~a?kt#G?~!?Zd[?kt#G?t8A5?\5?kt#G?~!?罹1'?kt#G?~!?N? +ףA=?t8A5?/=>v?kt#G?t8A5?O{b?kt#G?t8A5?`b?kt#G?|?5^I? %?kt#G?|?5^I?/=>v?ˡEQ?333?-=S?+Z?rhmŽ?-=S?+Z?333?Nb?ˡEQ?333??+Z?rhmŽ??+Z?333?P?+Z?ԸK?-=S?+Z?ԸK??+Z?v?P?ˡEQ?v?X9_%?+Z?ԸK?X9_%?+Z?v?""9?ˡEQ?5^) ?X9_%?+Z?5^) ?P?+Z?t ?|L?ˡEQ?5^) ?|L?+Z?5^) ?RE`?ˡEQ?5^) ??+Z?t ??+Z?5^) ?Mb/?+Z?5^) ?T۵?ˡEQ?tH?X9_%?+Z?tH?P?ˡEQ?tH?|L?+Z?tH?RE`?+Z?(\OX4??ˡEQ?tH?Η?+Z?(\OX4?Η?+Z?tH?V-r?ˡEQ?tH?n :?+Z?(\OX4?n :?ˡEQ?tH?V.a?+Z?(\OX4?V.a?ˡEQ?tH?y?+Z?(\OX4?y?+Z?tH?Zd;ۜ?+Z?v[?X9_%?+Z?7Ao?""9?ˡEQ?7Ao?|L?+Z?v[?jlt?ˡEQ?7Ao?jlt?+Z?7Ao?Mb/?ˡEQ?7Ao?CL?+Z?v[?CL?+Z?7Ao?x&v?+Z?9V?O{b?ˡEQ?9V? rĝ?ˡEQ?I 4?CL?+Z?~j|q?CL?ˡEQ?I 4?Η?+Z?I 4?V-r?+Z?I 4?֣pH&?+Z?~j|q?n :?+Z?~j|q?V.a?+Z?~j|q?y?+Z?I 4?Zd;ۜ?+Z?~j|q?/Ğ?ˡEQ?I 4?N?+Z?~j|q?/=>v?ˡEQ?I 4? rĝ?+Z?~j|q? rĝ?ˡEQ?~j|q?z?+Z?~j|q?EJ?ˡEQ?I 4?EJ?+Z?I 4?bX ?ˡEQ?;O ?Gy?+Z?z?Gy?+Z?;O ?T۵?+Z?;O ?x&v?+Z?= +׃\?O{b?ˡEQ?= +׃\? rĝ?ˡEQ?= +׃\?EJ?+Z?= +׃\?bX ?+Z?xp?Zd[?ˡEQ?M?N?+Z?xp?N?+Z?M?^I:?ˡEQ?M?/=>v?+Z?M?`b?+Z?xp? rĝ?+Z?xp?EJ?+Z?~j?N?+Z?~j?/=>v?l;d?1{?Gy?QΩn?p= +׸n?Gy?QΩn?1{?T۵?QΩn?1{?x&v?QΩn?t ?/=>v?QΩn?5^) ?`b?QΩn?(\OX4?-=S?QΩn?tH?P?l;d?tH?jlt?QΩn?(\OX4??l;d?tH??l;d?tH?Gy?QΩn?tH?x&v?QΩn?tH?`b?l;d?7Ao?X9_%?QΩn?7Ao?P?l;d?7Ao??l;d?7Ao?Gy?QΩn?v[?CL?l;d?7Ao?n :?QΩn?v[?V.a?QΩn?7Ao?Zd;ۜ?l;d?7Ao?/Ğ?QΩn?v[?/Ğ?l;d?7Ao? %?QΩn?7Ao?~a?l;d?7Ao?罹1'?QΩn?7Ao?$n?QΩn?v[?罹1'?QΩn?7Ao?^I:?l;d?7Ao?/=>v?QΩn?7Ao?`b?l;d? (?X9_%?QΩn? (?P?l;d? (?|L?l;d? (??l;d? (?CL?QΩn?Sd?/Ğ?QΩn?Sd?罹1'?l;d? (?/=>v?QΩn? (?`b?QΩn?x&1?X9_%?QΩn?x&1?|L?l;d?9V?jlt?QΩn?9V?RE`?l;d?9V??l;d?9V?Gy?l;d?9V?n :?QΩn?9V?֣pH&?QΩn?x&1?n :?QΩn?x&1?V.a?l;d?9V?V.a?QΩn?9V?SUu?l;d?9V?/Ğ?l;d?9V?/=>v?QΩn?9V?`b?l;d?9V?EJ?QΩn?x&1?EJ?QΩn?9V?z?QΩn?9V?bX ?l;d?I 4?+?QΩn?~j|q?+?QΩn?I 4?B`D?QΩn?I 4?(?QΩn?~j|q?jlt?QΩn?~j|q??QΩn?I 4?T۵?l;d?I 4?Gy?l;d?I 4?CL?QΩn?~j|q?Η?QΩn?I 4?V-r?l;d?I 4?Η?l;d?I 4?n :?QΩn?I 4?֣pH&?QΩn?~j|q?n :?l;d?I 4?V.a?QΩn?~j|q?V.a?QΩn?I 4?SUu?QΩn?~j|q?y?QΩn?I 4?Zd;ۜ?QΩn?~j|q? rĝ?l;d?I 4?"?QΩn?~j|q?"?QΩn?I 4?⥛D?l;d?;O ?+?QΩn?;O ?B`D?QΩn?;O ?(?QΩn?;O ?T۵?QΩn?z?CL?QΩn?;O ?x&v?QΩn?~j?EJ?L7ax?rhZ?|L?Zl?Ƌ2G?|L?Zl?rhZ?""9?Zl?rhZ?RE`?L7ax?rhZ??Zl?Ƌ2G??Zl?rhZ?Mb/?L7ax?rhZ?Gy?Zl?Ƌ2G?Gy?Zl?rhZ?x&v?Zl?5^) ?`b?L7ax?tH?n̮?Zl?tH? ?L7ax?tH?-=S?Zl?(\OX4??L7ax?tH??Zl?(\OX4?|L?Zl?(\OX4?CL?L7ax?tH?CL?Zl?(\OX4?Η?Zl?(\OX4?n :?L7ax?tH?V.a?Zl?(\OX4?/Ğ?Zl?(\OX4?Zd[?Zl?tH?`b?Zl?v[?n̮?Zl?v[?-=S?Zl?7Ao?Sc?L7ax?7Ao??Zl?7Ao?Zd;ۜ?Zl?v[?/Ğ?Zl?7Ao?~a?L7ax?7Ao?Zd[?Zl?7Ao?\5?Zl?v[?Zd[?Zl?7Ao?$n?L7ax?7Ao?罹1'?Zl?7Ao?`b?Zl?Sd??Zl?Sd?X9_%?L7ax? (?X9_%?Zl?Sd?|L?L7ax? (?|L?Zl?Sd?jlt?L7ax? (?jlt?Zl? (?Mb/?L7ax? (?Gy?Zl? (?T۵?Zl?Sd?Gy?Zl? (?x&v?Zl?~j? rĝ?Zl?~j?EJ? +N?rhZ?|L?m0?Ƌ2G?jlt?m0?rhZ?RE`? +N?rhZ?jlt? +N?rhZ??m0?rhZ?Mb/? +N?rhZ?Gy?m0?p= +׸n?-=S?m0?1{?Nb?m0?p= +׸n??m0?1{?P?m0?p= +׸n?|L?m0?1{?""9? +N?1{?jlt?m0?p= +׸n?jlt?m0?1{?RE`?m0?p= +׸n??m0?1{?Mb/? +N?1{?Gy?m0?p= +׸n?Gy?m0?1{?x&v?m0?v?O{b? +N?v?/=>v?m0?v?`b?m0?t ? +F?m0?5^) ? ? +N?5^) ?-=S?m0?5^) ?Nb?m0?5^) ?Sc? +N?5^) ??m0?5^) ?""9?m0?5^) ?RE`?m0?t ?? +N?5^) ?Gy?m0?t ?Gy?m0?5^) ?T۵? +N?5^) ?CL?m0?t ?CL?m0?5^) ?x&v? +N?7Ao?/=>v? +N? (??m0? (?Sc? +N? (?X9_%? +N? (?|L?m0?Sd?jlt? +N? (?jlt? +N? (?Gy? +N? (?Η?m0?Sd?V.a? +N? (?y?m0?Sd?/Ğ?m0?Sd?罹1'? +N? (?罹1'?m0? (?$n?m0?Sd?N?m0? (?^I:? +N? (?/=>v?m0? (?O{b? +N? (? rĝ?m0?x&1??m0?x&1?X9_%? +N?x&1?P? +N?9V?X9_%?m0?9V?""9? +N?9V?jlt?m0?9V?RE`?m0?x&1?jlt?m0?9V?Mb/? +N?9V?Gy?m0?x&1?罹1'?m0?x&1?/=>v? +N?9V? rĝ?m0?9V?`b?m0?~j|q?|L?m0?I 4?Mb/? +N?I 4?? +N?I 4?/Ğ? +N?I 4? %? +N?I 4?Zd[? +N?I 4?N?m0?~j|q? rĝ?m0?~j|q?EJ? +N?I 4?"?m0?I 4?bX ? +N?;O ?+? +N?;O ??m0?;O ?Mb/?m0?z?Gy?m0?;O ?T۵?m0?;O ?x&v?m0?~j? rĝ?̬?rhZ?jlt?̬?1{?-=S?̬?1{??-??p= +׸n?X9_%?-??1{?P?̬?1{?X9_%?-??p= +׸n?|L?-??1{?RE`?̬?1{??-??1{?T۵?-??p= +׸n?Gy?-??1{?x&v?-??5^) ?L7s?̬?5^) ? +F?-??t ? +F?̬?5^) ?n̮?-??5^) ? ?-??t ?n̮?-??5^) ?Nb?̬?5^) ?-=S?̬?5^) ?|L?-??5^) ?Mb/?̬?5^) ??-??t ??-??t ?Gy?̬?5^) ?CL?-??t ?n :?-??5^) ?֣pH&?-??t ?V.a?̬?5^) ?y?-??t ?y?-??t ?/Ğ?̬?5^) ? %?-??5^) ?~a?-??t ?罹1'?-??5^) ?$n?-??t ?N?̬?5^) ?/=>v?-??5^) ?O{b?-??(\OX4? +F?-??tH? ?-??(\OX4?n̮?̬?tH?-=S?-??(\OX4?-=S?-??tH?Nb?-??tH?Sc?̬?tH?|L?-??(\OX4??-??(\OX4?Gy?-??(\OX4?CL?-??tH?V-r?-??tH?֣pH&?̬?tH?/Ğ?-??(\OX4? %?̬?tH? %?-??tH?\5?̬?tH?Zd[?-??tH?$n?̬?tH?N?-??tH?^I:?-??(\OX4?N?-??(\OX4?/=>v?-??tH?O{b?-??tH?`b?-??v[?n̮?-??v[?-=S?-??7Ao?Nb?̬?7Ao?-=S?̬?7Ao??-??7Ao?Sc?-??v[??-??7Ao?P?̬?7Ao?jlt?̬?7Ao?Gy?-??7Ao?T۵?-??v[?Gy?-??7Ao?x&v?-??Sd?-=S?-?? (?Sc?-??Sd??-??Sd?Gy?-??Sd? %?̬? (? %?-?? (?~a?-?? (?\5?̬? (?罹1'?-??Sd?罹1'?̬? (?/=>v?-??Sd?/=>v?-?? (?`b?-??x&1??-??x&1?X9_%?-??9V?""9?-??9V?RE`?-??x&1?jlt?-??9V?Mb/?̬?9V?n :?-??9V?֣pH&?-??x&1?n :?-??9V?X9M?-??x&1? %?̬?9V? rĝ?-??x&1? rĝ?-??9V?z?-??~j|q?|L?-??I 4?Mb/?-??~j|q?n :?-??~j|q?EJ?̬?I 4?"?-??~j|q?"?-??I 4?⥛D?-??;O ?Mb/?̬?;O ?Gy?̬?;O ?n :?̬?;O ?Zd[?-??;O ?\5?-??z?Zd[?-??;O ?$n?̬?;O ?/=>v?-??;O ?O{b?-??z?/=>v?-??;O ?`b?-??;O ?bX ?-??z?"?-??~!??̬?t8A5?Gy?-??t8A5?T۵?̬?t8A5?CL?̬?t8A5?Η?̬?t8A5?V.a?-??~!?y?-??t8A5?SUu?̬?t8A5?y?-??t8A5?Zd;ۜ?̬?t8A5?Zd[?-??t8A5?\5?-??t8A5?$n?-??t8A5?^I:?-??~!?N?-??~!?/=>v?-??t8A5?O{b?̬?t8A5?EJ?-??t8A5?z?-??~!?EJ?-??|?5^I?Gy?-??|?5^I?CL?-??|?5^I?Η?-??|?5^I?n :?-??|?5^I?V.a?-??= +׃\?Zd;ۜ?̬?= +׃\?/Ğ?-??= +׃\?~a?-??|?5^I? %?-??= +׃\?$n?-??|?5^I?N?-??= +׃\?`b?-??|?5^I? rĝ?̬?= +׃\?EJ?-??xp?/Ğ?-??xp?罹1'?̬?M?罹1'?-??M?^I:?̬?M? rĝ?-??M?`b?-??~j?N?-??~j?/=>v?nԳ?1{?X9_%?nԳ?1{?|L?nԳ?1{?Gy?nԳ?G?n̮?nԳ?G?-=S?nԳ?G??nԳ?G?X9_%?nԳ?G?|L?nԳ?G?jlt?nԳ?G??|?e?rhmŽ?n̮?|?e?333? ?nԳ?333?-=S?|?e?333?Nb?nԳ?333??|?e?333?P?|?e?rhmŽ?X9_%?nԳ?333?|L?|?e?333?""9?nԳ?333?jlt?nԳ?333??|?e?ԸK?n̮?nԳ?v?n̮?nԳ?v?-=S?|?e?v?Sc?|?e?ԸK??nԳ?v?|L?|?e?v?""9?|?e?v?RE`?|?e?ԸK?jlt?|?e?ԸK??nԳ?v?Gy?|?e?v?T۵?nԳ?5^) ? +F?|?e?t ?n̮?|?e?5^) ? ?nԳ?5^) ?n̮?|?e?t ?-=S?|?e?t ?|L?nԳ?5^) ??|?e?5^) ?T۵?nԳ?5^) ?n :?nԳ?5^) ?V.a?nԳ?5^) ?y?nԳ?5^) ?/Ğ?nԳ?5^) ?罹1'?nԳ?5^) ?N?|?e?tH? ?nԳ?tH?-=S?|?e?tH?Mb/?nԳ?tH??|?e?(\OX4??|?e?tH?T۵?|?e?(\OX4?Gy?|?e?(\OX4?CL?nԳ?tH?Η?|?e?(\OX4?Η?|?e?tH?֣pH&?nԳ?tH?n :?nԳ?tH?V.a?|?e?tH?SUu?|?e?(\OX4?y?|?e?(\OX4?/Ğ?nԳ?tH? %?|?e?tH?~a?nԳ?tH?罹1'?nԳ?tH?/=>v?|?e?v[?n̮?nԳ?7Ao?-=S?|?e?v[?-=S?|?e?v[??|?e?v[?X9_%?nԳ?7Ao?X9_%?|?e?7Ao?""9?|?e?v[??nԳ?7Ao?Gy?|?e?7Ao?V-r?nԳ?7Ao?Η?|?e?v[?Η?|?e?v[?n :?|?e?7Ao?֣pH&?nԳ?7Ao?V.a?|?e?7Ao?X9M?|?e?7Ao?SUu?nԳ?7Ao?/Ğ?|?e?7Ao?Zd;ۜ?|?e?v[?/Ğ?|?e?v[? %?|?e?7Ao?~a?nԳ?7Ao?Zd[?|?e?7Ao?\5?nԳ?7Ao?N?nԳ? (??nԳ? (?X9_%?|?e?Sd?|L?nԳ? (?|L?|?e? (?RE`?nԳ? (?Η?|?e? (?V-r?|?e? (?֣pH&?|?e?Sd?V.a?|?e?Sd?/Ğ?nԳ? (? %?|?e?Sd?Zd[?|?e?Sd?罹1'?|?e?Sd?N?nԳ? (?/=>v?|?e? (?O{b?|?e?Sd? rĝ?|?e? (?`b?nԳ? (? rĝ?|?e? (?z?nԳ?9V?|L?|?e?9V?RE`?nԳ?9V?jlt?|?e?x&1?Η?nԳ?9V?n :?nԳ?9V?N?|?e?9V?^I:?|?e?x&1?N?|?e?x&1?/=>v?|?e?9V?O{b?|?e?9V?z?|?e?~j|q?jlt?|?e?I 4?Mb/?nԳ?I 4?CL?|?e?I 4?x&v?|?e?~j|q?/=>v?|?e?I 4?`b?|?e?~j|q?EJ?nԳ?I 4?"?|?e?I 4?bX ?|?e?z??nԳ?;O ??|?e?;O ?T۵?|?e?z?CL?nԳ?;O ?V.a?|?e?;O ?X9M?|?e?z?V.a?|?e?;O ?SUu?nԳ?;O ?Zd[?|?e?z?Zd[?nԳ?;O ?/=>v?|?e?z?/=>v?|?e?;O ?bX ?|?e?~!?Gy?nԳ?t8A5?Gy?|?e?~!?CL?nԳ?t8A5?CL?|?e?t8A5?V-r?nԳ?t8A5?n :?|?e?t8A5?֣pH&?|?e?~!?n :?|?e?~!?V.a?|?e?t8A5?X9M?nԳ?t8A5?y?nԳ?t8A5?Zd[?nԳ?t8A5?N?|?e?t8A5?z?|?e?~!?EJ?|?e?|?5^I?Η?|?e?|?5^I?V.a?|?e?|?5^I?y?|?e?= +׃\?Zd;ۜ?nԳ?= +׃\? %?nԳ?= +׃\?Zd[?nԳ?= +׃\?罹1'?|?e?|?5^I?罹1'?|?e?= +׃\?$n?|?e?= +׃\?^I:?|?e?|?5^I?/=>v?nԳ?= +׃\?/=>v?|?e?= +׃\?O{b?|?e?= +׃\?`b?nԳ?= +׃\? rĝ?|?e?= +׃\?z?|?e?xp?/Ğ?|?e?xp? %?|?e?xp?Zd[?|?e?xp?N?nԳ?M?N?nԳ?M?/=>v?|?e?xp? rĝ?Nb?333?n̮?Nb?333?X9_%?Nb?v??Nb?v?X9_%?Nb?v?jlt?Nb?v??Nb?5^) ?n̮?Nb?5^) ?-=S?Nb?5^) ??Gy?5^) ?P?Gy?t ?X9_%?Gy?t ?|L?Nb?5^) ?jlt?Gy?5^) ?RE`?Gy?5^) ?Mb/?Gy?t ??Gy?5^) ?T۵?Nb?tH?n̮?Nb?tH?-=S?Gy?tH?Sc?Gy?(\OX4??Gy?tH?P?Nb?tH?X9_%?Gy?(\OX4?X9_%?Gy?(\OX4?|L?Nb?tH?|L?Gy?(\OX4?jlt?Gy?tH?RE`?Nb?tH??Gy?(\OX4?Gy?Nb?tH?CL?Gy?tH?x&v?Gy?x&1? rĝ?Gy?9V?z?Gy?~j|q??Nb?I 4??Gy?I 4?T۵?Nb?I 4?CL?Gy?~j|q?/Ğ?Nb?I 4?Zd[?Nb?I 4?N?Gy?I 4?^I:?Nb?I 4?/=>v?Gy?I 4?O{b?Gy?~j|q? rĝ?Gy?I 4?`b?Nb?I 4? rĝ?Nb?I 4?EJ?Gy?;O ?T۵?Gy?;O ?x&v?Gy?z?/=>v?Gy?;O ?O{b?Gy?z? rĝ?Gy?;O ?`b?Nb?;O ?EJ?Gy?;O ?z?Gy?~!?Gy?Gy?~!?Η?Nb?t8A5?Η?Gy?~!?n :?Nb?t8A5?V.a?Gy?t8A5?SUu?Gy?~!?/Ğ?Nb?t8A5?Zd[?Gy?t8A5?\5?Gy?~!?Zd[?Gy?t8A5?$n?Gy?~!?/=>v?Gy?t8A5?`b?Nb?t8A5? rĝ?Gy?~!? rĝ?Gy?|?5^I?y?Gy?|?5^I?/Ğ?Nb?= +׃\?/Ğ?Gy?|?5^I? %?Nb?= +׃\? %?Gy?|?5^I?Zd[?Gy?= +׃\?\5?Nb?= +׃\?罹1'?Gy?|?5^I?N?Gy?= +׃\?^I:?Nb?= +׃\?N?Gy?|?5^I?/=>v?Nb?= +׃\? rĝ?Gy?xp?Zd[?Gy?xp?罹1'?-[?5^) ?X9_%?-[?5^) ?|L?-[?5^) ??-[?tH??-[?tH?jlt?-[?tH??ov?-[?9V? rĝ?ov?ov?-[?;O ? rĝ?ov?ov?SC?;O ?n :?SC?;O ?V.a?/$?z?y?SC?;O ?y?/$?z?/Ğ?/$?z? %?SC?;O ? %?SC?;O ?罹1'?SC?t8A5?/Ğ?SC?t8A5? %?SC?t8A5?Zd[?SC?= +׃\?/Ğ?h?9V?y?h?9V?/Ğ?h?9V? %?h?I 4?y?h?I 4?/Ğ?h?I 4? %? +   +        !!$#"%"#('&*)&*&'+)*.-,/,-$"$0$%1"1"13231323(&2(42&5&)4&5)+67)65)78769.,9,/:0:<:;:;:;2; +; +;2 +2  24 4 4= 45=7?>=7>57=BA@8?7DCADABECDHGFIFG<;<J<K;KKK;LLK ==L=ML=>N=NM@AO@OPCRQOCQACORCESHFSFIVUTWTTJJJTUKYXZXYXZWXWWKKXX\Y[K[Y[KL]LM[L]MN^_M^]M__^P_PO_OOO`OQ`Oa`abVTbTWbWcXfedZcWXg\[ehdg[]g]ii]_i_jljkkj j_ _ `mam a !a mka!nfdndholkokmrqptsptpqustvrpvpsvswzyxuws{yzxy|x|}y{~y~|y~}|}||$##%%###''('*'+*+*-...//-/0$$1%131(336+86889../99:00:<<:>?B@8?88DBBEDGHIG<<JNN>P@PPQQRQREEERRRHSISVUUJUJZYY\\Y^N^P``QbVbcbcZZeefghggh\e\h\e\igiijiiljmm`ffnnhhhoolomoo    + +        rqqqqtqqut #"!%$!%!"&$%)('*'v'vrv'(wvvv*+**+,,++uzuuzwxwzwx,w,.-{.{z .z z-.#!-#/-!0!$/!0$&12$10$23214)'654'64*6',876,7*,6,x8x98x}9-~{~--:-/:;=<0:0<0:/;?=>0>=>0223@2@>CBAEDAEABGFDGDEIHFIFGKJHKHIMLJMJKONLOLMQPNQNORPQS56S679}T9U::;<V:W:V:WU;V?W>W?W>X>@Y>YX[Z[\Z\]CA_^\\^\^`^`D]D`D]ADDaDFabFHaFbcHJbHcdJLcJdeLNdLefNPeNfPRgPgfhihTihUUUjUWjkWXjWklXlkXlXY[[lm_n^m^n`poooaqoapsqrarqrabrrcrbcttucuucvdvctwtwevewevdeexefxfgyfyxihziz{||h|zh|}jj}}k}jk~k~~~k~mmopsrrpruttwxxxyx{zz||||}}}}}~~~    +  + +        +      +        + +    + #"#"%%&&%%%(()((++. .#!1 1&  &" "1!3%$#&#$)('*'(-,+.+,)4/0)/)05/4218817828989343935567766879<= :!9=?3!:;3:@3;%#BC%B<%C&=#=B#=EB>)'@?=G=?=GE'*>B?A?BGIGBBDCKBCIBKKCEFKEMKF+O-OF-OMF.G+GO+GQORQGRGH0/I0IJSK5K/5KI/71LK7LMKLS7KL4M4TM49T5N66N89V<V9?PYOY;OY@;Z[POZPQZOZR\QRZC]<S<]<SR_RSR_\`S]@T??TADUCCUEHgRVgHWJIWIKWKXZYXKZXMZKiZTTZMPlYlP[Sn_nS`\[qq[oqs\\s]`_^^u`uv`ba`b`vwbvVygcyVdYZi{Z{eZedZe{fhgffgejihhigjkinmllonrqppsrvutxwxtottov[vos]]w_y^abybyu^yuybw{zczyc|{zf{~}~fhfjjhjjklmmollqpsputtx{{||||{{{{}~~        +  +           +           !!"##$&%&""" # '&"'"')($)$%+*&$+&(+$,()-*+*(,0/.10.-2,.,254365377870899:<;<2221912<<34<3<7!35 55 =78!8"!8>"$?#& # &:@:&A@&@AB%BAB%?#?%&#%;:@'A&EDCFCDIHGH)G)<G)%<K=J=&JJ&*LJ**-L@=K,)>ONMOM,/,M,/0,0*B*0*B>A>B>AO>O,DB01D0PD1RQFRFE-F2FS2FQS45S5GS.2S.SGHG56H5TH6J80JU8:V9;<V<LV19V1VLL<4N5W5XW5=XWYNY8NY>8BZ@ECZCOZ;@Z;ZOQOC[QCF[C\Q[]IGQ]GRQG]Q\RG<J^KO@K@OT_TO`_O_`aNa`aN^K^NOKN`ObAbObAcTcAcT_UedeUcDcUcDbPbDEURRUdTVHfVTgUJgJWhWXhgWXYhhYiXjWjkWklWmYWmWllnm[o\\o]rqppsr_a\a[\at[c_u_]u]vu]_\w_`uecaw`zyx|{xx{zf{|cf|VfcYd}~Y}iY~edd}geeilgkglgkkknkliklknmnonqrsrqpuvspwxxtvttv[]wvvwwy_ywaxyyxx|xzc|c||z~}}}}}}}}kkmooqsux||} +       +   "$$%%%')(+((-+/.1.436378877  :    +  +;   == > "" ? ?$  $ B?A%AADE''AFDHHI)HHHJJLJLL-NMMMM///P11QQRQSQS444T66! 8  8U :: V"V #" "#$ +$#$ +!! +  +# % ;%V"%V%;&X  X=Y&>>&  ''B'ZB'(ZEZZ)Z()F)*F)[F*]I]+^Ja^,^,N`,N,b```,-,,-..-/bP0de01d1Rd1R43265252422T57T5fT78 U8Ug;:98"$"8hgh8;i<i;h"h;9";"9%=%9%=><>=;<=<?>&jXkj@j&@Ym@Y@&n@mCBAADC*E[[Eo]o++oEFqrsFrGt,,tavGuG.uG,../u/Hu0eu0uHHI0IJ0K10K0JLz2zLyJyLMJLJMKNKMKN323NL2NNOL62PzP2Pz{{f7{7PQ:;=Q;S<RiR<Ri~<S?@k@nBTAATDFqFsGtGvWVUVXUZYIYIJIIYZJMJZJMLJLyyLyYYJ\[\O\LO][\^R~^~__^__`baabbcfeddgfWhVVhXYY[jij]j[]kijl`laalcmcenddngikoioioqpqoqrpqmsmttuuxwvvyx|{zz}|~p~p~prstttuuuuvwwyvv{{zzzz}~~~  + + +    !  $!! +# +%#''  '('()(*)*)++---/-1134445675  89:$888=9>%>>?>?>BCDCEE**EE++HH/HK1IH3KNMP6ONP7Q:=QSR?SS    +TBTD      WUUXIZIZMZZZ\\O\]\^R^___``  + +b b +b aa cb  ef  gfhWhX! #""!"j"]"]"jkjk$kl`%alc%c&%cm&)(''*)neng-,++.- //0012#21132$4kk4o465q45o4q5rqs87&s7ms&897(:'':*=<;;>=@?,?w,x+,x,w?@y@.y+xy+y.BA0A{0|10|0{AB}B3}1|}1}3566~6C~5r8sEDDD998GFEEFDGHFKJIMLIL;I<KI<I;NL>;NO??wOyyO?P{P{APPPAA}RQQ~CCREEEGSHGSGSIJSJSTMITITNUNTUNUVUVWOOWOXWYZYZO[OZO[XP\ZYP_^]^]]a`]a]babQbcVcWdWcddWXdXeYX[egfff\\Yfg_g^_gh^i`ah^hiabggghhjjkkjjlklkmklmmknoonopqqplqlrlqtmsmrsmlrmtttuuuvvnvuwyoxovxonvoyzyz{ppp|qp{|~r}r|}rq|~rrsrrvwwvxvzzz{{{|}|| + +   +    !!!!##""""$%&&%%%()*),-.-/   0/2###233244$4647&7999::((*::*==<=>>@,@.00BBBB33C6699DFFDFHHFFFJKKKLM<<KL>L>QQRRCSHSJTMTUTVUVU[ZZ\\Z_]]]``]`bQQcVcdddede[ee\ff_i`ibstuttwuxyzy}~s~wxzzz}   + +               +         !!!"!" # " ##!#%$#!#$$%$%&&&'(()((+*(*(,,,*--.-..0/./.01123"!1144!!$43!$76568'6'6'589::9:;);<**;;*+;,*=*>=*<>=>->.->?./.@.A@.?AAB@12CC2D1CCEECFE44E7G66G88GH8HIHIKJ9K9KL9L:9JL9:M<<M>M<M>>N>?>NPAOANOA?NQPBADRCQRSRCCCFTFTTUXWVVYXZ[ZI[ZK\K]\L\]MMN^ON^N^Q_Q^_Q`Q`_Q`acbcaaa`S`UUbedWdWVWWdfdVdeVdVeYgYeYghfhgdfghf[fZ[fiZjZjijZ]j]aakakcalklmnmnodpdpngpdoofqfoqiqfqiiijjrklrlmoooqqss +ts +su sutusu  vwwvwt +txtutxx x uyvvy wy vyww #"z{%#{#z|&%|%{|'&)}(}+(,~x,x~-~x/0y0y0yy22yz"z"3"33z4{44{3z3{75{5|{5{|5';})};+=~,~=-@/@BB22DFEEE4G777HGGIHKJLJOPBPPRDRSRTFTTUTUTWWXXYY[II\K\L^O^___``S`bcUbbeWWhYgeh[kkcmnnnpppgrkrm \ No newline at end of file diff --git a/alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/mesh_Batch_0_Sampling_0005_Local_0001.ply b/alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/mesh_Batch_0_Sampling_0005_Local_0001.ply new file mode 100644 index 0000000000000000000000000000000000000000..f03169901f1d652c8947d28c1c19f2114800f90e Binary files /dev/null and b/alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/mesh_Batch_0_Sampling_0005_Local_0001.ply differ diff --git a/alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/mesh_Batch_0_Sampling_0006_Local_0000.ply b/alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/mesh_Batch_0_Sampling_0006_Local_0000.ply new file mode 100644 index 0000000000000000000000000000000000000000..c1c027006015ad02f9dd236bc4634c9460617dbb --- /dev/null +++ b/alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/mesh_Batch_0_Sampling_0006_Local_0000.ply @@ -0,0 +1,81 @@ +ply +format binary_little_endian 1.0 +comment Created by Open3D +element vertex 1042 +property double x +property double y +property double z +element face 2076 +property list uchar uint vertex_indices +end_header +-?&\??|~?n?!rx=?x&Q??!rx=?|??!rx=?&\?y&?!rx=?&\?QX?!rx=?&\?Sҝ?p=wM?n?]um?&\?z?'1v]?&\? +g?]um?&\?ü?]um?n?rhs?rh|?0$f^?rhs?rh|?Sҝ?-/t}?x&Q?Sҝ?rhs?x&Q?xϽ?rhs?~j?$?rhs?Q?Zd{?rhs?Q?xϽ?rhs?~j? +g?rhs?Q?ü?rhs?~j?V?rhs?Q?Q=?rhs?|?Zd{?-/t}?|?Sҝ?rhs?|?v_}?rhs?l;?Sҝ?-/t}?|?~J?rhs?|?ü?-/t}?|?V?rhs?|?Q=?rhs?n?rhs?n?p?rh|?(]?433q?x&Q?Sҝ?p?x&Q?v_}?p?~j?$?p?Q?Zd{?p?~j?Sҝ?p?Q?xϽ?p?~j? +g?p?Q?ü?433q?Q?V?p?Q? +?p?|?Zd{?433q?|?Sҝ?p?|?xϽ?p?|?ü?p?l;?V?p?|?Q=?433q?&\?$?p?&\?Zd{?p?n?433q?m?~J?p?m?xϽ?p?p=|?~J?p?p=|? +g?p?p=|?V?p?rh?0$f^?p?rh??tHn?rh|??tHn?~j?m?tHn?~j?y&?tHn?~j?Sҝ?tHn?Q?xϽ?:vo?Q? +g?:vo?|?$?tHn?|?*\>?tHn?|?xϽ?:vo?|? +g?:vo?|?V?:vo?&\?$?tHn?&\?*\>?tHn?n 67>78?7?>;9@;@A@ @< @9< <<=B=BBB= >>B>CB>?DE>DC>EFEDIHGGHA@GAJG@JJ@BBBKBCKEMLKELCEKMEFPONNOIGNIQNGRGJQGRRRJSKKSKTSKLUVKUTKVWVUZYXXYPNXP[XN\NQ[N\ \\R\QRR]#SS#^ST]S^V`_^V_TV^`VWaZXcbaXca[cXd[\c[d%d  d\e'(#](]e(]fe^hgf^g]^fh^_bcibijkcdick)l%ld%lkd*m))ml'e*em*enmfponfoefnpfgqjiqikqkrrklrlsslmsmttmntnuunoxwvzyvzvw{yz~}|||}xvxvyvy{yy~|~|||-,-,///111314345--848;:;:5???8A;;D?FDFFIHIHALMMFMFOPOPOIULWUWWYZZZPYY_``W`WaZZbaghhh___jbbopppgggjqjqrqrsrrtssuttuuooowxwwzzzw{{zzz   ~}~}  +    +    xx{~ + + +  + +     !!""!##$###%%& %&&& '!!!"()!('!)*)(+$#+#+,+,,-/..//01%%11&1%&&'''2')2)*3)324-4765.4.877000759981191:9::1;2223<2<;?>==>6=67=7777@78@A89@8AAA:A9::B;;;<C;CB?=D?DEDD=@@@F@AFFFAGBBBCHBHGEDIEIJIIDFFLKGKGKLGHJIMJMNMMIPOOKKPQNMSQRRQQMMRTUTUOUVSRXVWWVVRRYYWZZYZ\[[T]T\]]TU^XW^WY^Y__YZ_Z`b`aa``ZZccacdedeffe[[fgbagacgchhcdkjimlimijnlmqpooporptstrtustkivkvwxilvixlnyzlyxlzzyz{y|{|~}~|~}~oqqosusswwvvvvvxx  xz z}   } }     """$("*(**$$+,+,-,./0/3*344-44..56550<3<>?>?>6C<CE?EHCHJEEKLLHLHJJJNOPPPKKKNQNNSQOUOVVSVXV[\]\\]U]UX^X^^_^_`_b`b`ddeeeeeff[ffgbghhdhjjkjmjnmnmpqpprrrprtrututwkwyny{y{|{|~|~quw   + + +  +         + +   !#""# %$$$!! %&$)('")'"'"%*&%*%*++*,,+.,-,-,//-1/0/02002004304045656'(6(6'7.-7-/7/82/184932945;:;=<=:=><=??@A@AACBABABEDEFDF;;F<>G<G<GHGH?I?HI?I@CJBBJJJKLKLLNMLMLMPOPEEONQMQSRQRMQMRUTUPPTSVRRVWVWYXYX[ZXZXZU\U]^]^W^Y_Y[`ZZ`a`abcb\cb]^d]d]ddde _ f_g + hg h ahicbkijji ib b j nmlenleleof o  +gpgoppghqkjjrjrqjrsstrmulluvuvwsstsxxswvyv{zw{w{wzxy|y{}{|~|}~~!##"##!$!$$&&))()")&&**+*+,+.,.,1000303056666(67.788819395;:=::>=@ACAEDDDFDF;;;G>>HGGHHIH@IIICJCJJKJKLKNLNOOPEOOONNQSQSUTTPTPSSVWVWYX[X\\U^W^__Y`[[a`cc\^^dedeff_haaickkiiimnneneofoppphqkqrqtrtrumvuvvxxtyvy{zzzxxx|y|}}{~|~}~    + +   +  +            "! ! "##$#$%&%&('&'&(+*)+))),- ,-! . /. -//0.121$21%%3%&%3'&4&54&35564)*77*8)9,)79,:-,9:</;/:;/-:/<012==2>==13335@???665?@8@78@A7A9A7A99B9:9B;:CC:B=>DD>EDD=F@@@GA@FGHAHGHABHBIBHCBJJBIDEKKELKKDMMNNNOOFQPOPFOPGFSHRHPRHGPHSIISTITJLUKKUVUVWMMNMXXMWQYPPYR\[ZZ\Z]\VV]^WWXW_W`_W^``a_Z[bb[cbbZ^^d^`^da`ee`dhgfhfccfbfbbbdiedidikjjjikljonmmompofgpgpfkqlkqkqrrqssrttsmntntmuvvuwwvwxyyxz zy{ + { z{  +|u|u}u|u~vu}~vwv~wxxyyyxyzzz{z { {|||}|}~}~!"""###$#'(((*+++.!00...2$$4'4668**;<<<000>22?6?8CC;>>E>CJCLELNOQORSTSSTJTJUULUVUXXNYQQRYY\[\[\]]]V_X_aac[ceeaghhhcieijjjllnoooppoppgqlqrrrssstttn   +  +   +          +   +          \ No newline at end of file diff --git a/alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/mesh_Batch_0_Sampling_0012_Local_0000.ply b/alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/mesh_Batch_0_Sampling_0012_Local_0000.ply new file mode 100644 index 0000000000000000000000000000000000000000..000cd9a57863c854506093bde18101645c4ff646 Binary files /dev/null and b/alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/mesh_Batch_0_Sampling_0012_Local_0000.ply differ diff --git a/alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/mesh_Batch_0_Sampling_0021_Local_0001.ply b/alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/mesh_Batch_0_Sampling_0021_Local_0001.ply new file mode 100644 index 0000000000000000000000000000000000000000..ac4f69aece4031072a12ba6cff02d033560e38bb Binary files /dev/null and b/alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/mesh_Batch_0_Sampling_0021_Local_0001.ply differ diff --git a/alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/mesh_Batch_0_Sampling_0021_Local_0002.ply b/alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/mesh_Batch_0_Sampling_0021_Local_0002.ply new file mode 100644 index 0000000000000000000000000000000000000000..66381986dcc16d22738c72a37fa8d84763d6610c Binary files /dev/null and b/alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/mesh_Batch_0_Sampling_0021_Local_0002.ply differ diff --git a/alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/mesh_Batch_0_Sampling_0031_Local_0000.ply b/alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/mesh_Batch_0_Sampling_0031_Local_0000.ply new file mode 100644 index 0000000000000000000000000000000000000000..e0616c900cf880bc45835d57636984fe6148b0dc Binary files /dev/null and b/alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/mesh_Batch_0_Sampling_0031_Local_0000.ply differ diff --git a/alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/mesh_Batch_0_Sampling_0040_Local_0000.ply b/alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/mesh_Batch_0_Sampling_0040_Local_0000.ply new file mode 100644 index 0000000000000000000000000000000000000000..2e8195279825515f3e470e8bf5b59966b946c84a Binary files /dev/null and b/alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/mesh_Batch_0_Sampling_0040_Local_0000.ply differ diff --git a/alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/mesh_Batch_0_Sampling_0047_Local_0000.ply b/alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/mesh_Batch_0_Sampling_0047_Local_0000.ply new file mode 100644 index 0000000000000000000000000000000000000000..f918501ba1c1e8840a40d144cae22b1e6c890186 Binary files /dev/null and b/alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/mesh_Batch_0_Sampling_0047_Local_0000.ply differ diff --git a/alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/mesh_Batch_0_Sampling_0050_Local_0000.ply b/alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/mesh_Batch_0_Sampling_0050_Local_0000.ply new file mode 100644 index 0000000000000000000000000000000000000000..f4d4d02aa06a3145f28f3be3eeb04a963e7f1a21 Binary files /dev/null and b/alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/mesh_Batch_0_Sampling_0050_Local_0000.ply differ diff --git a/alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/mesh_Batch_0_Sampling_0051_Local_0002.ply b/alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/mesh_Batch_0_Sampling_0051_Local_0002.ply new file mode 100644 index 0000000000000000000000000000000000000000..d4be10ed91a3f072ffee090001cdd7dcf599aa29 --- /dev/null +++ b/alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/mesh_Batch_0_Sampling_0051_Local_0002.ply @@ -0,0 +1,103 @@ +ply +format binary_little_endian 1.0 +comment Created by Open3D +element vertex 982 +property double x +property double y +property double z +element face 1980 +property list uchar uint vertex_indices +end_header + P,?+9k?0$?lkK?L7,?0$?lkK?+9k?P? P,?+9k?|?Up?lkK?L7,?|?Up? P,?+9k?Zh?lkK?L7,?Zh?lkK?+9k?lN-? P,?&1n?0$?lkK?&1n?P? P,?&1n?|?Up? P,?&1n?Zh?lkK?&1n?lN-? P,?K;g?0$?lkK?K;g?P? P,?K;g?|?Up? P,?K;g?Zh?lkK?K;g?lN-? P,?fff?0$?lkK?fff?P? P,?fff?|?Up? P,?fff?Zh?lkK?N!?jt35l? P,?fff?jt35l?lkK?fff?J k? P,?%b?q= +wu?lkK?F#?q= +wu?lkK?%b?|?6? P,?%b?0$?lkK?%b?-1?lkK?F#?|?Up?lkK?F#?Zh?lkK?%b?lN-? P,?%b?jt35l?lkK?%b?J k? P,?㥛d?7?lkK?V-?7?lkK?㥛d?MbP?lkK?V-?q= +wu?lkK?㥛d?|?6?lkK?V-?0$?lkK?V-?jt35l? P,?El^?7?lkK?El^?MbP?lkK?El^?|?6? P,?El^?)\?lkK?(?)\?lkK?El^?J k?lkK?El^?(? P,?El^?Ā?lkK?(?Ā?lkK?El^?K7I?lkK?El^?Q$?lkK?C S?7?lkK?C S?)\? P,?`B9?Ā?lkK?`B9?K7I?lkK?`B9?Q$? P,?Z?6^)?lkK??5^z?6^)?lkK?Z?W-? P,?Z?Ԙjy?lkK??5^z?Ԙjy?lkK?Z?MbP? P,?Z?)\?lkK??5^z?)\?lkK?Z?J k? P,?Z?g?lkK??5^z?g? P,?Z?Ā?lkK?Z?Q$?lkK?x?6^)?lkK?x?Ԙjy?lkK?$!?MbP? P,?$!?7?lkK?x?7? P,?$!?q= +wu?lkK?x?q= +wu? P,?$!?0$?lkK?x?0$?lkK?$!?-1? P,?$!?jt35l?lkK?x?jt35l?lkK?$!?lN-?lkK?x?)\?lkK?$!?J k?lkK?x?g?lkK?x?Ā?lkK?tX?7?lkK? U?|?6? P,? U?q= +wu? P,? U?0$?lkK?tX?|?Up? P,? U?|?Up? P,? U?Zh?lkK?tX?Zh? P,? U?jt35l?lkK? U?J k?lkK?{DŽ?q= +wu?lkK?{DŽ?0$?lkK?{DŽ?|?Up?lkK?{DŽ?Zh?lkK?{DŽ?jt35l?jto?L7,?0$?jto?+9k?P?jto?L7,?|?Up?jto?L7,?Zh?jto?+9k?lN-?jto?&1n?P?jto?&1n?lN-?jto?K;g?P?jto?K;g?lN-?jto?fff?P?jto?N!?jt35l?jto?fff?J k?jto?F#?q= +wu?jto?%b?|?6?{j?%b?|?Up?{j?%b?Zh?jto?%b?J k?{j?㥛d?Ԙjy?jto?V-?Ԙjy?jto?㥛d?Ga:?jto?V-?7?{j?㥛d?q= +wu?{j?㥛d?0$?jto?㥛d?-1?jto?V-?|?Up?jto?V-?Zh?{j?㥛d?jt35l?jto?㥛d?lN-?jto?V-?)\?{j?㥛d?)\?{j?㥛d?g?jto?V-?g?jto?㥛d?K7I?{j?El^?6^)?jto?(?6^)?jto?El^?W-?{j?El^?Ԙjy?jto?El^?|?6?jto?(?q= +wu?jto?(?0$?jto?(?jt35l?jto?El^?J k?{j?El^?g?jto?(?Ā?jto?El^?Q$?jto?C S?6^)?jto?C S?Ԙjy?jto?C S?7?jto?C S?)\?jto?C S?g?jto?`B9?K7I?jto?`B9?Q$?jto??5^z?6^)?jto?Z?W-?jto??5^z?Ԙjy?{j?Z?7?jto??5^z?7?jto?Z?|?6?jto??5^z?)\?jto?Z?J k?jto??5^z?g?jto?Z?Q$?jto?x?6^)?jto?x?Ԙjy?jto?$!?MbP?jto?x?q= +wu?jto?x?0$?{j?$!?|?Up?jto?x?|?Up?{j?$!?Zh?jto?x?Zh?jto?x?jt35l?{j?$!?)\?jto?$!?(?jto?x?g?jto?x?Ā?jto?tX?7?jto? U?|?6?jto? U?J k?jto?tX?)\?jto?{DŽ?q= +wu?jto?{DŽ?0$?jto?{DŽ?|?Up?jto?{DŽ?Zh?jto?{DŽ?jt35l?I U?L7,?0$?I U?+9k?P?I U?L7,?|?Up?I U?L7,?Zh?I U?+9k?lN-?I U?&1n?P?I U?&1n?lN-?I U?K;g?P?I U?K;g?lN-?I U?fff?P?I U?N!?jt35l?I U?fff?J k?Zd;?%b?7?I U?F#?7?I U?%b?MbP?I U?F#?q= +wu?I U?F#?)\?Zd;?%b?)\?I U?%b?(?Zd;?㥛d?6^)?I U?V-?6^)?I U?㥛d?W-?I U?V-?Ԙjy?I U?㥛d?-1?I U?V-?|?Up?Zd;?㥛d?Zh?I U?㥛d?̌?I U?V-?g?Zd;?㥛d?Ā?I U?V-?Ā?I U?㥛d?Q$?I U?El^?W-?I U?El^?|?6?I U?(?q= +wu?I U?(?0$?I U?(?Zh?I U?(?jt35l?I U?El^?J k?I U?El^?Q$?I U?C S?6^)?I U?C S?Ԙjy?I U?C S?7?I U?C S?)\?I U?C S?g?I U?`B9?K7I?I U?`B9?Q$?I U??5^z?6^)?I U?Z?W-?I U??5^z?Ԙjy?Zd;?Z?7?I U?Z?MbP?I U??5^z?)\?I U?Z?J k?I U??5^z?g?I U?Z?Q$?I U?x?6^)?I U?x?Ԙjy?I U?x?7?I U?$!?MbP?I U?x?q= +wu?I U?x?0$?I U?x?|?Up?I U?x?Zh?I U?x?jt35l?I U?$!?(?I U?x?g?I U?x?Ā?I U?tX?7?I U? U?|?6?I U? U?J k?I U?tX?)\?I U?{DŽ?q= +wu?I U?{DŽ?0$?I U?{DŽ?|?Up?I U?{DŽ?Zh?I U?{DŽ?jt35l?)\<?L7,?0$?)\<?+9k?P?)\<?L7,?|?Up?)\<?L7,?Zh?)\<?+9k?lN-?)\<?&1n?P?)\<?&1n?lN-?)\<?K;g?P?)\<?K;g?lN-?)\<?fff?P?)\<?N!?jt35l?)\<?fff?J k?9?%b?Ԙjy?)\<?F#?Ԙjy?)\<?%b?Ga:?)\<?F#?7?)\<?F#?q= +wu?9?%b?)\?)\<?%b?J k?)\<?V-?6^)?)\<?㥛d?W-?9?㥛d?|?Up?)\<?V-?)\?)\<?V-?g?)\<?V-?Ā?)\<?㥛d?Q$?)\<?El^?W-?)\<?El^?|?6?)\<?(?q= +wu?)\<?(?0$?)\<?(?|?Up?)\<?(?Zh?9?El^?jt35l?)\<?El^?lN-?)\<?El^?Q$?)\<?C S?6^)?)\<?C S?Ԙjy?)\<?C S?7?)\<?C S?jt35l?)\<?C S?)\?)\<?C S?g?)\<?`B9?K7I?)\<?`B9?Q$?)\<??5^z?6^)?)\<?Z?W-?)\<??5^z?Ԙjy?9?Z?7?)\<??5^z?7?)\<?Z?|?6?)\<??5^z?)\?)\<?Z?J k?)\<??5^z?g?)\<?Z?Q$?)\<?x?6^)?9?$!?Ԙjy?)\<?$!?Ga:?)\<?x?q= +wu?)\<?x?0$?)\<?x?|?Up?)\<?x?Zh?)\<?x?jt35l?)\<?$!?(?)\<?x?g?9?$!?Ā?)\<?$!?K7I?)\<?$!?Q$?)\<?tX?Ԙjy?)\<?tX?7?)\<? U?|?6?)\<? U?J k?)\<?tX?)\?)\<?tX?Ā?)\<?{DŽ?q= +wu?)\<?{DŽ?0$?)\<?{DŽ?|?Up?)\<?{DŽ?Zh?)\<?{DŽ?jt35l?J"G?L7,?0$?J"G?+9k?P?J"G?L7,?|?Up?J"G?L7,?Zh?V.'?+9k?jt35l?J"G?L7,?jt35l?J"G?+9k?J k?J"G?&1n?P?J"G?&1n?lN-?J"G? +ףp?jt35l?V.'?K;g?q= +wu?J"G?vT(?q= +wu?J"G?K;g?|?6?J"G?K;g?lN-?V.'?fff?7?J"G?N!?7?J"G?fff?MbP?V.'?fff?q= +wu?J"G?N!?jt35l?J"G?fff?J k?V.'?%b?6^)?J"G?F#?6^)?J"G?%b?W-?J"G?F#?Ԙjy?J"G?%b?J k?J"G?㥛d?W-?J"G?V-?)\?J"G?V-?g?J"G?V-?Ā?J"G?㥛d?Q$?J"G?El^?W-?J"G?El^?|?6?J"G?(?q= +wu?V.'?El^?0$?J"G?El^?P?V.'?El^?|?Up?V.'?El^?Zh?J"G?El^?Q$?J"G?C S?6^)?J"G?C S?Ԙjy?J"G?C S?7?J"G?C S?0$?J"G?C S?|?Up?J"G?C S?Zh?J"G?C S?jt35l?J"G?C S?)\?J"G?C S?g?J"G?C S?Ā?V.'?`B9?Ā?J"G??5^z?6^)?J"G?Z?W-?J"G??5^z?Ԙjy?J"G??5^z?7?J"G?Z?|?6?J"G??5^z?)\?J"G?Z?J k?J"G??5^z?g?J"G??5^z?Ā?J"G?Z?Q$?J"G?x?6^)?J"G?$!?Ga:?J"G?x?q= +wu?J"G?x?0$?J"G?x?|?Up?J"G?x?Zh?J"G?x?jt35l?J"G?$!?(?J"G?x?g?J"G?$!?K7I?J"G?$!?Q$?J"G?tX?Ԙjy?J"G?tX?7?J"G? U?|?6?J"G? U?J k?J"G?tX?)\?J"G?tX?Ā?J"G?{DŽ?q= +wu?J"G?{DŽ?0$?J"G?{DŽ?|?Up?J"G?{DŽ?Zh?J"G?{DŽ?jt35l?Sef?+9k?7??L7,?7??+9k?MbP?Sef?+9k?q= +wu??L7,?q= +wu??L7,?0$??L7,?|?Up??L7,?Zh?Sef?+9k?jt35l??+9k?lN-?Sef?&1n?7??&1n?MbP?Sef?&1n?q= +wu??&1n?lN-?Sef?K;g?7??K;g?MbP??K;g?lN-??fff?MbP??N!?jt35l??fff?J k?Sef?%b?6^)??%b?Ga:??F#?Ԙjy??%b?J k??V-?6^)??㥛d?W-??V-?)\??V-?g??V-?Ā??㥛d?Q$??El^?W-?Sef?El^?q= +wu??El^?Q$??C S?6^)??C S?Ԙjy??C S?7??C S?q= +wu?Sef?`B9?0$??`B9?P?Sef?`B9?|?Up??`B9?̌??C S?Zh?Sef?`B9?jt35l??`B9?lN-??`B9?J k??C S?)\??C S?g?Sef?`B9?Ā??`B9?K7I??`B9?Q$???5^z?6^)??Z?W-???5^z?Ԙjy???5^z?7??Z?|?6???5^z?0$???5^z?|?Up?Sef?Z?jt35l??Z?lN-???5^z?)\???5^z?g??Z?Q$?Sef?$!?6^)??$!?W-??x?q= +wu??x?0$??x?|?Up??x?Zh??$!?(??x?g??x?Ā?Sef?$!?Ā??tX?6^)??tX?Ԙjy??tX?7?? U?|?6?? U?J k??tX?)\??{DŽ?q= +wu??{DŽ?0$??{DŽ?|?Up??{DŽ?Zh??{DŽ?jt35l?K7?L7,?7?K7?+9k?MbP?K7?L7,?q= +wu?K7?L7,?0$?K7?L7,?|?Up?K7?L7,?Zh?֣p{?+9k?jt35l?K7?L7,?jt35l?K7?+9k?J k?K7?&1n?MbP?K7?&1n?lN-?K7? +ףp?jt35l?K7?K;g?MbP?K7?K;g?lN-?K7?fff?MbP?֣p{?fff?|?Up?K7?fff?-1?K7?N!?|?Up?K7?fff?̌?K7?N!?jt35l?K7?fff?J k?K7?F#?Ԙjy?K7?%b?Ga:?K7?F#?|?Up?K7?%b?J k?֣p{?㥛d?6^)?K7?㥛d?Ga:?K7?V-?)\?֣p{?㥛d?g?K7?㥛d?(?֣p{?㥛d?Ā?K7?(?6^)?K7?El^?W-?K7?(?g?K7?(?Ā?K7?El^?Q$?֣p{?`B9?6^)?K7?`B9?W-?K7?`B9?Ga:?K7?C S?Ԙjy?K7?C S?7?֣p{?`B9?q= +wu?K7?`B9?|?6?֣p{?`B9?Zh?K7?C S?jt35l?K7?`B9?lN-?֣p{?`B9?jt35l?K7?`B9?J k?֣p{?`B9?)\?֣p{?`B9?g?K7?`B9?Q$?K7?Z?W-?K7??5^z?Ԙjy?K7??5^z?7?K7??5^z?q= +wu?K7?Z?|?6?K7??5^z?0$?K7??5^z?|?Up?K7??5^z?Zh?K7?Z?lN-?K7??5^z?jt35l?K7?Z?Q$?K7?$!?W-?K7?x?q= +wu?֣p{?$!?0$?K7?$!?P?֣p{?$!?|?Up?K7?$!?̌?K7?x?Zh?K7?$!?(?K7?x?g?֣p{?$!?Ā?K7?$!?K7I?K7?$!?Q$?K7?tX?6^)?K7?tX?Ԙjy?֣p{? U?7?K7? U?MbP?K7?tX?0$?֣p{? U?|?Up?K7? U?-1?K7? U?̌?K7? U?J k?K7?tX?)\?K7?tX?Ā?K7?{DŽ?7?K7?{DŽ?q= +wu?K7?{DŽ?0$?K7?{DŽ?Zh?K7?{DŽ?jt35l??L7,?7??+9k?MbP??L7,?q= +wu??L7,?0$?a?+9k?|?Up??+9k?-1?a?+9k?Zh??+9k?lN-??L7,?jt35l??+9k?J k??&1n?MbP?a?&1n?|?Up??&1n?-1??&1n?̌?? +ףp?Zh?a?&1n?jt35l??&1n?J k??K;g?MbP?a?K;g?|?Up??K;g?-1??K;g?̌?a?K;g?jt35l??K;g?J k??fff?MbP??fff?-1??fff?̌??fff?J k?a?%b?Ԙjy??%b?MbP?a?%b?|?Up??%b?-1??%b?̌??F#?)\?a?%b?)\??%b?(??V-?Ԙjy??㥛d?Ga:?a?㥛d?|?Up??㥛d?-1??V-?Zh?a?㥛d?Zh??㥛d?lN-??㥛d?(??(?6^)??El^?W-??(?|?Up??(?Zh??(?g??(?Ā??El^?Q$??`B9?W-?a?`B9?Ԙjy??`B9?MbP??C S?7??`B9?|?6??`B9?lN-??C S?jt35l??`B9?J k??`B9?Q$??Z?W-???5^z?7??Z?|?6???5^z?q= +wu???5^z?0$???5^z?|?Up???5^z?Zh???5^z?jt35l??Z?lN-??Z?Q$??x?6^)?a?$!?6^)??$!?Ga:??x?q= +wu??$!?P?a?$!?Zh??$!?lN-??$!?(??x?g??x?Ā?a?$!?Ā??tX?Ԙjy?? U?MbP??tX?0$?? U?-1?a? U?Zh?? U?lN-?? U?J k??tX?)\??{DŽ?7??{DŽ?q= +wu??{DŽ?0$??{DŽ?jt35l?Q(B?L7,?7?Q(B?+9k?MbP?Q(B?L7,?q= +wu?Q(B?L7,?0$?Q(B?+9k?-1?Q(B?L7,?jt35l?Q(B?+9k?lN-?Q(B?+9k?J k?Q(B?&1n?MbP?Q(B?&1n?-1?Q(B? +ףp?Zh?Q(B?&1n?̌?Q(B?&1n?J k?Q(B?K;g?MbP?Q(B?vT(?|?Up?C H#?K;g?|?Up?Q(B?K;g?J k?Q(B?fff?MbP?Q(B?fff?-1?Q(B?N!?|?Up?Q(B?fff?̌?Q(B?fff?J k?Q(B?%b?MbP?Q(B?%b?-1?Q(B?F#?Zh?C H#?%b?Zh?Q(B?%b?lN-?C H#?%b?)\?Q(B?%b?J k?C H#?㥛d?Ԙjy?Q(B?㥛d?MbP?C H#?㥛d?0$?Q(B?㥛d?P?Q(B?V-?0$?Q(B?㥛d?lN-?Q(B?V-?)\?Q(B?㥛d?(?Q(B?(?6^)?Q(B?El^?W-?Q(B?(?Ԙjy?C H#?El^?q= +wu?Q(B?El^?|?6?Q(B?(?q= +wu?C H#?El^?0$?C H#?El^?|?Up?C H#?El^?Zh?Q(B?(?jt35l?C H#?El^?jt35l?Q(B?El^?J k?Q(B?(?g?C H#?El^?Ā?Q(B?El^?K7I?Q(B?`B9?W-?Q(B?`B9?MbP?Q(B?C S?7?C H#?`B9?q= +wu?C H#?`B9?0$?C H#?`B9?|?Up?C H#?`B9?Zh?Q(B?`B9?J k?Q(B?C S?Ā?Q(B?`B9?Q$?Q(B?Z?W-?Q(B??5^z?7?Q(B?Z?|?6?C H#?Z?jt35l?Q(B?Z?J k?Q(B?Z?Q$?Q(B?x?6^)?Q(B?$!?Ga:?Q(B?x?q= +wu?Q(B?$!?P?Q(B?x?jt35l?Q(B?$!?lN-?Q(B?$!?(?Q(B?x?g?Q(B?x?Ā?Q(B?tX?Ԙjy?Q(B? U?MbP?Q(B?tX?0$?Q(B? U?-1?C H#? U?Zh?Q(B?tX?Zh?Q(B? U?̌?Q(B? U?J k?Q(B?tX?)\?Q(B?{DŽ?7?Q(B?{DŽ?q= +wu?Q(B?{DŽ?0$?Q(B?{DŽ?Zh?Q(B?{DŽ?jt35l?tD.b?+9k?7?d;_?+9k?|?6?d;_?L7,?q= +wu?d;_?L7,?0$?d;_?+9k?-1?tD.b?+9k?Zh?d;_?L7,?Zh?d;_?+9k?̌?d;_?L7,?jt35l?d;_?+9k?J k?d;_? +ףp?7?d;_?&1n?MbP?d;_?&1n?-1?d;_?&1n?̌?d;_?&1n?J k?d;_?K;g?MbP?tD.b?K;g?|?Up?d;_?K;g?-1?d;_?K;g?̌?d;_?K;g?J k?d;_?N!?7?tD.b?fff?7?d;_?fff?|?6?d;_?fff?-1?d;_?fff?̌?d;_?fff?J k?d;_?F#?7?d;_?%b?MbP?tD.b?%b?0$?d;_?%b?P?d;_?F#?0$?d;_?F#?Zh?d;_?%b?lN-?d;_?F#?)\?tD.b?%b?)\?d;_?%b?(?d;_?㥛d?MbP?d;_?㥛d?P?d;_?㥛d?lN-?d;_?㥛d?(?d;_?(?6^)?d;_?El^?W-?d;_?(?Ԙjy?d;_?El^?|?6?d;_?(?q= +wu?d;_?(?jt35l?d;_?El^?J k?d;_?(?g?tD.b?El^?Ā?d;_?(?Ā?d;_?El^?Q$?d;_?`B9?W-?d;_?`B9?MbP?d;_?C S?7?d;_?`B9?J k?d;_?`B9?Q$?d;_?Z?W-?d;_??5^z?7?d;_?Z?|?6?d;_??5^z?)\?tD.b?Z?)\?d;_?Z?(?d;_?Z?Q$?d;_?x?6^)?d;_?$!?Ga:?d;_?x?q= +wu?d;_?$!?P?d;_?x?jt35l?d;_?$!?lN-?d;_?x?)\?d;_?$!?(?d;_?x?g?d;_?x?Ā?d;_?tX?Ԙjy?d;_? U?MbP?d;_?tX?0$?d;_? U?-1?tD.b? U?Zh?d;_? U?lN-?d;_? U?J k?d;_?tX?)\?d;_?{DŽ?7?d;_?{DŽ?q= +wu?d;_?{DŽ?0$?d;_?{DŽ?jt35l?S{?+9k?q= +wu?Cl?+9k?P?Cl?L7,?0$?Cl?+9k?-1?S{?+9k?Zh?S{?+9k?jt35l?S{?&1n?7?S{?&1n?q= +wu?Cl?&1n?P?Cl?&1n?-1?Cl? +ףp?Zh?Cl?&1n?̌?S{?&1n?jt35l?Cl?&1n?lN-?S{?K;g?7?Cl?K;g?|?6?Cl?vT(?q= +wu?Cl?K;g?-1?Cl?K;g?̌?S{?K;g?jt35l?Cl?K;g?lN-?Cl?fff?|?6?Cl?fff?-1?Cl?fff?̌?Cl?N!?jt35l?Cl?fff?J k?S{?%b?7?Cl?%b?|?6?S{?%b?0$?Cl?%b?-1?Cl?F#?Zh?Cl?%b?lN-?S{?%b?)\?Cl?%b?J k?S{?㥛d?7?Cl?V-?q= +wu?S{?㥛d?q= +wu?Cl?V-?0$?Cl?V-?jt35l?S{?㥛d?jt35l?S{?㥛d?)\?Cl?(?6^)?Cl?El^?W-?Cl?(?Ԙjy?Cl?(?7?Cl?El^?|?6?Cl?(?)\?Cl?El^?J k?S{?El^?g?Cl?El^?(?S{?El^?Ā?Cl?C S?6^)?S{?`B9?6^)?Cl?C S?Ԙjy?S{?`B9?Ԙjy?Cl?C S?7?Cl?C S?)\?S{?`B9?)\?S{?`B9?g?Cl?`B9?K7I?Cl?C S?Ā?Cl?`B9?Q$?Cl??5^z?6^)?Cl?Z?W-?S{?Z?Ԙjy?Cl?Z?Ga:?S{?Z?7?Cl??5^z?g?Cl?Z?(?Cl?Z?Q$?Cl?x?6^)?S{?$!?Ԙjy?Cl?$!?MbP?Cl?x?7?Cl?x?q= +wu?Cl?$!?P?Cl?x?jt35l?Cl?$!?lN-?S{?$!?)\?Cl?$!?J k?Cl?x?g?Cl?x?Ā?Cl?tX?7?S{? U?7?Cl? U?|?6?Cl?tX?0$?Cl? U?-1?Cl? U?lN-?Cl? U?J k?Cl?{DŽ?q= +wu?Cl?{DŽ?0$?Cl?{DŽ?jt35l?233?+9k?0$?233?&1n?0$?233?&1n?Zh?233?K;g?q= +wu?233?K;g?0$?233?K;g?Zh?233?fff?q= +wu?233?fff?0$?233?fff?Zh?233?fff?jt35l?233?%b?q= +wu?233?%b?0$?233?%b?jt35l?233?El^?6^)?233?El^?Ԙjy?233?El^?7?233?El^?)\?233?`B9?Ā?233?Z?6^)?233?Z?g?233?Z?Ā?233?$!?7?233?$!?q= +wu?233?$!?jt35l?233? U?q= +wu?233? U?0$?233? U?jt35l?  + +  +       +  +  +     ! !!""!%$#&$'#&&(() !)!"%#*%*+#',#,*/.-0-.3214125+*5*,6/-6-0317378149197<;:>=:>:;?=>BA@DC@D@ACD87C8EC779F7FEG<:G:=G=HKJI?H=MLJMJKONLOLMPNOSRQB@TRUQT@CTCVVCEVEWWEFXIJZYXJZXLZJ[LNZL[NP\]N\[N]_^]_]\^_SQ^S`^QQUaQa`bYZbZ[b[cc[]c]dd]^d^ee^`e`ff`ahghigijijjjk h lhk m kl nlm omnpnoqqqqrtstppsuvvu vr"w"rzyx$%xy$x{$y&t|t&t|{'{|{'$(}&&}|~}(~(~uuvv)v)v )"w")"zxzx+%%x|'|,'|}}}~/....002333424+5+55,5//660663338949;;<;>;?>?>AABADA8DDF9F<<GGHGH??KKIKMKMOMPOPORSRRBTTUURTTTVVWVWFWIIXXYY\P\___SUaUYYbbcbcdcdedefefafgghgigijikjklhlmkmnlnomopnpooqrqrstsspsswwwryzyy{{{y{t~wz~   + +  +               !"$##%%$&%&&&'&)'('('(!*!+"+,,+--,##-.)(.(./.00/001*2*43453576757867:9:;9;11;2<2=4=?=>=>=>6>>>68@6@6@A@ABABCBCDCD::DFEEHFGFGFIGI<IJ?>J>JKJKKLNMMEENOHGOGIPLPQQPRRQSSRTTSMMTVUV W +UW +X WX +ZY  Z XZ [YZ V  \V^]Y] Y] ^Y[a`_`\_\_\ ]b]edccda_cafc_ff_bgggghkjiijiljcelelccffhmhkiknkimoopopq pq! q!qr"n"snut$$t#wuvu%vu$%&x%%xv'y&&yx)y'r*!z*r{s"{"+|+,|{+},-}|,-#t-t}~wv~vx~xxyyy).).././0/1010z2z*z233435357587899:9;91;;;22<244==??88@@A@ABABCBCDC:DDFFEFHHI<I??JJKJKLLNNMNENHHOOIOLLPPQPQRQRSRSTSTMTUVUUUWUWXWZXZ[Z\VV^]^]^[a```\b]bdededabbghghkjjjljellmhmknkmmoopopqprqrsnstuwuzrzss{{|{|}|}t}}~~w~~~zz +   +           !! #!"!"!"$&$%$%'%%'%%)(%)%**)*+,---.-."/#.0./"/1/221$3$23&3$5'44'4()5)5'55))**+6+,7,0888:9898;;9;<=<=44=?>>A?@?@?B@B6BC7CDDCFDEDEDE:G9IHGH9GH;9<;JJ;HLKK>>LMA@M@BNFENENONPPOHIPIPQJHQHQRRQKKRTSTUSUVUVVXWVWVYYWYZ[Z[[[\T]TWX^^X_aY`Y^`YW^baZYcbc\c]d]^_ee_f`^gg^ehbbbcibihdjdef +f  +fk  + e ge lgh   hi hm innoooj p qp kqprr rl tsms mutswvnwnwnvopqxxqyrpzp{zpx{{|zttut}u~ww~yxx{{{|}    !!##%%&%((++,,--.-0.0#///1/1212325443&3(556+677,7008:8:<==4=4??>A?A?B6BC7CDCDFF::GIGIJJ<LLKL>LMAMBFFNNONOPOPIPQJQRQRKRSSTSUSUVUXVX[[Z\[\]T]_X_aa`Zaac\cd]dfff_g`gicijdjfkfggglmimojoqkqrrlrsmmmuswvvovoyqyzrz|||uu}u~~w~~~yy|||}}   + +          + + +  !"#%$%%$ ('&!(&!&!)")))*,+#+#-,+%.%&'''/&*0*,,-,1-323424..4655//6707778199;:;9;<:;3=3?>>55?8@8::<:A<=B=>CCCCDFE@E@FGEAHAIBIIIJDKKKKLNMNFOFMOOPOFFFGQGRRQHHRSJSSSTLUUUUVWWXXXNZYYPPZ[T[\\[]]\VV]W^XW^W ^ Y Y^ _  _`a `  a aabcddcde_ e_f_e`_gg_fbhbjicjcjlkikcikdckkdmeeofnfmnfemfoghphjqjklrrlsrrkm m nm tnp!u!p"q"vqswrrwxw#x%y$yz$z $zt {'(|{(!|(u|!}v"}"))*}}*~+###x-+.y.y%zyyy{/{/'{/{|0~0*0~1--223242.44456666/7088879919;99<;==3=>????5?@@8@<<A<=B=C>>DCE@GGGEHAHBBIJJIJDKDKLKLMMNOMOPOQQGQRQRHRSJTTSSSLLUVUVXNXZYZYZP[T[\[\]\]V]XX^^Y^`abagg`hbbjilinogoophhqqjsllttnuppvvqwssxwzzt|uu}v}~~xxz|~ \ No newline at end of file diff --git a/alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/mesh_Batch_0_Sampling_0055_Local_0000.ply b/alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/mesh_Batch_0_Sampling_0055_Local_0000.ply new file mode 100644 index 0000000000000000000000000000000000000000..bdfc3d82e7c8a7b368bcb4716c285c88dedcf451 Binary files /dev/null and b/alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/mesh_Batch_0_Sampling_0055_Local_0000.ply differ diff --git a/alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/mesh_Batch_0_Sampling_0067_Local_0001.ply b/alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/mesh_Batch_0_Sampling_0067_Local_0001.ply new file mode 100644 index 0000000000000000000000000000000000000000..a420e54bad02115de779f84f51310af65aa2e872 Binary files /dev/null and b/alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/mesh_Batch_0_Sampling_0067_Local_0001.ply differ diff --git a/alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/mesh_Batch_0_Sampling_0067_Local_0002.ply b/alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/mesh_Batch_0_Sampling_0067_Local_0002.ply new file mode 100644 index 0000000000000000000000000000000000000000..0efb68bc87481a5fc10f108fc1da4fc0a47d8e6c Binary files /dev/null and b/alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/mesh_Batch_0_Sampling_0067_Local_0002.ply differ diff --git a/alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/mesh_Batch_0_Sampling_0068_Local_0001.ply b/alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/mesh_Batch_0_Sampling_0068_Local_0001.ply new file mode 100644 index 0000000000000000000000000000000000000000..7b4c7fe22a9fdb4f16d332334bc5fa1dd6bde4eb --- /dev/null +++ b/alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/mesh_Batch_0_Sampling_0068_Local_0001.ply @@ -0,0 +1,66 @@ +ply +format binary_little_endian 1.0 +comment Created by Open3D +element vertex 900 +property double x +property double y +property double z +element face 1796 +property list uchar uint vertex_indices +end_header +w?Qi?xޔ?y&qۢ?CD?xޔ?y&qۢ?Qi?thmo?w?Qi?jx?y&qۢ?CD?jx?w?Qi?N,?y&qۢ?CD?N,?y&qۢ?Qi?l{Q?w?n?xޔ?y&qۢ?n?thmo?w?n?jx?w?n?N,?y&qۢ?A`幏?w?w?n?w?y&qۢ?n?z?y&qۢ?|?T?xޔ?y&qۢ?|?T?jx?y&qۢ?Cl!?!F?w?Cl!?N,?w?Cl!?w?y&qۢ?Cl!?z?y&qۢ?&?N,?y&qۢ?&?w?{µ?}?5^R?o@DI?}?5?y&1?o@DI?}?5?}?5^R?ktw#?{µ?}?5^R?xޔ?}?5?y&1?xޔ?{µ?}?5^R?jx?}?5?y&1?jx?}?5?}?5^R?!F?{µ?Qi?gff?}?5?CD?gff?}?5?Qi?cX?{µ?Qi?o@DI?}?5?CD?N,?{µ?Qi?w?}?5?CD?w?}?5?Qi?z?{µ?n?gff?}?5?n?cX?{µ?n?o@DI?{µ?n?nH?}?5?A`幏?nH?{µ?n?/]?}?5?A`幏?/]?}?5?n?p=4?{µ?Cl!?gff?}?5?Cl!?cX?{µ?Cl!?o@DI?{µ?Cl!?xޔ?{µ?Cl!?jx?{µ?Cl!?nH?{µ?Cl!?/]?}?5?|?T?K|Z?{µ?Cl!?K|Z?}?5?Cl!?ZI?}?5?&?gff?}?5?&?o@DI?}?5?&?xޔ?}?5?&?jx?}?5?&?N,?}?5?&?w?}?5?&?nH?}?5?&?/]?}?5?&?K|Z?{µ?ƻL?k?}?5?&?k?}?5?ƻL?v>?{µ?ƻL?ʡK=?}?5?&?ʡK=?}?5?ƻL? c?{µ? V?rh?}?5?Er?rh?}?5? V?ZI?{µ? V?k?{µ? V?ʡK=?}?5? V? c?}?5?M#?rh?}?5?M#?k?}?5?Gz?t~?{µ?Gz?ʡK=?}?5?Gz? c?}?5?什 ?ʡK=?j4?u?gff?Cu?q= +?gff?Cu?u?cX?j4?u?o@DI?Cu?q= +?o@DI?j4?u?xޔ?Cu?q= +?xޔ?Cu?u?|ǫ?j4?}?5^R?_I?Cu?y&1?_I?Cu?}?5^R?[d;_B?j4?}?5^R?gff?Cu?y&1?jx?Cu?}?5^R?!F?j4?Qi?W-2uf?Cu?CD?W-2uf?Cu?Qi?S@?j4?Qi?_I?Cu?CD?N,?Cu?CD?w?Cu?Qi?z?Cu?A`幏?W-2uf?Cu?n?[d;_B?j4?n?_I?Cu?A`幏?nH?Cu?A`幏?/]?j4?n?K|Z?Cu?A`幏?K|Z?Cu?n?ZI?j4?Cl!?_I?Cu?Cl!?[d;_B?j4?Cl!?rh?Cu?|?T?rh?Cu?Cl!?v>?Cu?&?_I?Cu?&?gff?Cu?&?o@DI?Cu?&?xޔ?Cu?&?jx?Cu?&?N,?j4?ƻL?w?Cu?ƻL?l{Q?Cu?ƻL?z?Cu?&?nH?Cu?&?/]?j4?ƻL?K|Z?Cu?ƻL?p=4?j4?ƻL?rh?Cu?&?k?j4?ƻL?ʡK=?Cu?ƻL?t~?Cu?Er?w?Cu?Er?K|Z?Cu? V?ZI?Cu?Er?ʡK=?Cu?Er?v?j4? V?v?j4? V?"y?Cu?Er?"y?Cu? V?xM?Cu?M#?rh?j4?Gz?k?Cu?Gz?v>?j4?Gz?v?j4?Gz?"y?Cu?Gz?xM?j4?Ԋ/?k?Cu?Ԋ/?v>?Cu?什 ?ʡK=?Cu?Ԋ/?t~?Cu?什 ?v?Cu?什 ?"y?Cu?I XU?k?a\?m?gff?QB?i|Pa?gff?QB?m?cX?QB?m?ktw#?a\?u?W-2uf?QB?q= +?W-2uf?QB?u?S@?a\?u?_I?QB?q= +?_I?QB?q= +?o@DI?QB?q= +?xޔ?a\?u?jx?QB?q= +?jx?QB?u?!F?a\?}?5^R?W-2uf?QB?}?5^R?S@?QB?}?5^R?!F?QB?Qi?S@?QB?CD?N,?a\?Qi?w?QB?Qi?l{Q?a\?n?W-2uf?QB?n?S@?QB?A`幏?w?QB?A`幏?nH?QB?A`幏?/]?QB?A`幏?K|Z?a\?n?rh?QB?A`幏?rh?QB?n?v>?a\?Cl!?W-2uf?QB?Cl!?S@?a\?Cl!?k?QB?|?T?k?QB?Cl!?t~?QB?&?W-2uf?a\?ƻL?_I?QB?ƻL?[d;_B?a\?ƻL?gff?a\?ƻL?o@DI?QB?ƻL?thmo?QB?&?xޔ?a\?ƻL?jx?QB?ƻL?|ǫ?QB?ƻL?!F?QB?&?N,?QB?ƻL?l{Q?a\?ƻL?nH?a\?ƻL?/]?a\?ƻL?ʡK=?QB?&?ʡK=?a\?ƻL?v?QB?&?v?QB?ƻL?L?QB?Er?_I?QB?Er?gff?QB?Er?o@DI?QB?Er?jx?QB?Er?w?a\? V?nH?QB? V?z?a\? V?/]?a\? V?K|Z?QB?Er?"y?a\? V? ?QB?Er? ?QB? V?$E?QB?M#?nH?QB?M#?/]?QB?M#?K|Z?a\?Gz?rh?QB?Gz?ZI?a\?Gz? ?QB?Gz?$E?QB?什 ?rh?QB?Ԋ/?v>?a\?Ԋ/?ʡK=?a\?Ԋ/?v?QB?Ԋ/?L?QB?什 ?"y?QB?什 ? ?QB?I XU?k?QB?I XU?ʡK=?QB?I XU?v?َ)'?m?_I?A`%:?i|Pa?_I?A`%:?m?[d;_B?A`%:?i|Pa?gff?َ)'?m?o@DI?A`%:?i|Pa?o@DI?َ)'?m?xޔ?A`%:?i|Pa?xޔ?َ)'?m?jx?A`%:?i|Pa?jx?A`%:?m?!F?A`%:?q= +?W-2uf?A`%:?u?S@?َ)'?u?N,?A`%:?q= +?N,?A`%:?u?l{Q?A`%:?}?5^R?S@?َ)'?}?5^R?N,?A`%:?y&1?w?َ)'?}?5^R?w?َ)'?}?5^R?nH?A`%:?y&1?nH?A`%:?}?5^R? 0?َ)'?Qi?Ob?A`%:?CD?Ob?A`%:?Qi?K  ?َ)'?Qi?w?َ)'?Qi?nH?A`%:?CD?/]?َ)'?Qi?/]?A`%:?Qi?p=4?َ)'?n?Ob?A`%:?n?K  ?A`%:?A`幏?K|Z?َ)'?n?rh?A`%:?n?ZI?A`%:?|?T?Ob?A`%:?Cl!?S@?A`%:?|?T?rh?A`%:?|?T?k?A`%:?Cl!?t~?َ)'?ƻL?W-2uf?A`%:?ƻL?S@?A`%:?ƻL?thmo?A`%:?&?xޔ?A`%:?ƻL?|ǫ?َ)'?ƻL?N,?A`%:?&?ʡK=?A`%:?&?v?A`%:?ƻL?L?A`%:?Er?W-2uf?A`%:?Er?_I?A`%:?Er?gff?A`%:?Er?o@DI?A`%:?Er?jx?A`%:?Er?N,?A`%:?Er?w?A`%:? V?z?A`%:?Er?"y?َ)'? V? ?A`%:? V?xM?A`%:?M#?nH?A`%:?M#?/]?َ)'?Gz?K|Z?A`%:?Gz?p=4?A`%:?M#? ?A`%:?Gz?$E?َ)'?Ԋ/?K|Z?A`%:?Ԋ/?p=4?A`%:?什 ?rh?A`%:?Ԋ/?ZI?A`%:?Ԋ/?v>?َ)'?Ԋ/?"y?A`%:?Ԋ/?xM?A`%:?什 ? ?A`%:?I XU?K|Z?A`%:?I XU?k?َ)'?/%{?ʡK=?A`%:?/%{?t~?A`%:?/%{? c?A`%:?I XU?v?A`%:?I XU?"y?A`%:?(\?ʡK=?nR_?i|Pa?_I?nR_?m?[d;_B?lL?m?gff?nR_?m?cX?nR_?m?ktw#?nR_?i|Pa?o@DI?nR_?i|Pa?xޔ?lL?m?jx?nR_?m?|ǫ?lL?u?W-2uf?nR_?u?[d;_B?nR_?q= +?gff?nR_?q= +?jx?nR_?q= +?N,?lL?u?w?nR_?q= +?w?lL?u?nH?nR_?q= +?nH?nR_?u? 0?nR_?y&1?W-2uf?nR_?}?5^R?S@?lL?}?5^R?/]?nR_?y&1?/]?nR_?}?5^R?p=4?nR_?CD?Ob?nR_?Qi?K  ?lL?Qi?K|Z?nR_?CD?K|Z?nR_?Qi?ZI?nR_?n?K  ?lL?n?rh?nR_?A`幏?rh?nR_?n?v>?lL?Cl!?Ob?nR_?Cl!?K  ?nR_?Cl!?v>?lL?Cl!?k?nR_?|?T?ʡK=?nR_?Cl!?t~?lL?Cl!?ʡK=?nR_?Cl!? c?nR_?&?Ob?nR_?ƻL?S@?lL?ƻL?xޔ?nR_?&?k?nR_?ƻL? c?lL?ƻL?v?nR_?&?"y?nR_?ƻL?L?lL?ƻL?"y?nR_?ƻL?xM?nR_?Er?W-2uf?lL? V?_I?nR_? V?[d;_B?lL? V?gff?lL? V?o@DI?nR_? V?thmo?nR_?Er?xޔ?nR_?Er?jx?nR_?Er?N,?lL? V?w?nR_? V?l{Q?nR_?Er?v?lL? V? ?nR_?Er? ?nR_? V?$E?nR_?M#?_I?nR_?M#?gff?nR_?M#?o@DI?nR_?M#?w?nR_?M#?nH?lL?Gz?/]?nR_?Gz? 0?nR_?Gz?xM?lL?Gz? ?nR_?M#? ?nR_?什 ?/]?nR_?Ԋ/?p=4?nR_?Ԋ/?ZI?nR_?什 ?rh?nR_?Ԋ/?v>?nR_?Ԋ/?xM?nR_?I XU?K|Z?nR_?I XU?k?nR_?/%{?t~?nR_?/%{? c?nR_?I XU?v?nR_?I XU?"y?nR_?(\?ʡK=?r?m?_I?|?i|Pa?gff?|?m?cX?r?m?gff?|?i|Pa?o@DI?r?m?xޔ?|?m?thmo?r?u?W-2uf?|?q= +?W-2uf?|?u?S@?|?q= +?_I?|?q= +?xޔ?|?q= +?jx?|?q= +?N,?|?q= +?w?|?q= +?nH?|?u? 0?r?}?5^R?Ob?|?y&1?Ob?|?}?5^R?K  ?|?y&1?/]?|?}?5^R?p=4?|?Qi?K  ?r?Qi?K|Z?|?Qi?p=4?|?n?K  ?r?n?K|Z?|?n?p=4?r?n?rh?|?Cl!?K  ?|?|?T?K|Z?|?|?T?rh?|?|?T?k?r?Cl!?k?|?|?T?ʡK=?|?Cl!? c?|?&?Ob?|?ƻL?S@?|?&?v?r?ƻL?v?r?ƻL?"y?|?ƻL?L?r? V?W-2uf?|? V?S@?r? V?xޔ?r? V?jx?r? V?N,?|?Er?"y?r? V? ?|? V?xM?|?M#?W-2uf?|?M#?_I?|?M#?gff?|?M#?o@DI?|?M#?xޔ?|?M#?jx?|?M#?N,?r?Gz?w?|?Gz?l{Q?r?Gz?nH?r?Gz? ?|?M#? ?|?Gz?$E?|?什 ?w?|?什 ?nH?r?Ԋ/?/]?|?Ԋ/? 0?r?Ԋ/?rh?|?Ԋ/?xM?|?什 ? ?|?I XU?/]?|?I XU?K|Z?|?I XU?rh?|?I XU?k?|?/%{?t~?r?/%{?v?|?/%{?L?|?I XU?"y?|?(\?ʡK=?|?(\?v??m?gff??m?o@DI?Cw?q= +?W-2uf?Cw?u?S@?Cw?q= +?_I?Cw?q= +?gff?Cw?q= +?o@DI?Cw?q= +?xޔ??u?jx?Cw?u?|ǫ?Cw?u?!F?Cw?q= +?N,?Cw?q= +?w??u?nH?Cw?u?z??}?5^R?Ob?Cw?}?5^R?S@??}?5^R?jx?Cw?}?5^R?|ǫ?Cw?}?5^R?!F?Cw?y&1?nH??}?5^R?/]?Cw?}?5^R? 0?Cw?CD?Ob?Cw?Qi?K  ?Cw?CD?jx??Qi?nH?Cw?Qi?z?Cw?CD?nH??Qi?/]?Cw?n?K  ?Cw?A`幏?nH?Cw?A`幏?/]?Cw?n?p=4?Cw?Cl!?K  ?Cw?|?T?K|Z?Cw?|?T?rh?Cw?|?T?k??Cl!?ʡK=?Cw?Cl!?t~??ƻL?Ob?Cw?ƻL?K  ?Cw?&?ʡK=?Cw?&?v?Cw?ƻL?L?Cw?Er?Ob?Cw?Er?W-2uf?? V?W-2uf?Cw? V?[d;_B?Cw?Er?"y?? V? ?Cw?Er? ?Cw? V?$E?Cw?M#?_I?Cw?M#?gff?Cw?M#?o@DI?Cw?M#?xޔ?Cw?M#?jx?Cw?M#?N,?Cw?Gz?l{Q?Cw?Gz?xM??Gz? ?Cw?M#? ?Cw?什 ?w?Cw?什 ?nH?Cw?Ԋ/? 0?Cw?Ԋ/?xM?Cw?I XU?/]?Cw?I XU?K|Z?Cw?I XU?rh?Cw?I XU?k?Cw?/%{?t~?Cw?/%{?L?Cw?I XU?"y?Cw?(\?ʡK=?Cw?(\?v?nC^?u?W-2uf?nC^?u?_I?D?u?cX?D?q= +?gff?nC^?u?o@DI?D?u?ktw#?nC^?u?xޔ?nC^?u?N,?nC^?u?w?D?y&1?W-2uf?D?}?5^R?S@?D?y&1?_I?D?y&1?o@DI?nC^?}?5^R?xޔ?D?}?5^R?thmo?nC^?}?5^R?N,?nC^?}?5^R?w?nC^?}?5^R?nH?nC^?Qi?Ob?D?Qi?S@?D?CD?xޔ?nC^?Qi?jx?D?Qi?|ǫ?nC^?Qi?N,?nC^?Qi?w?nC^?n?Ob?D?n?S@?D?A`幏?jx?D?A`幏?N,?nC^?n?w?D?n?l{Q?nC^?n?nH?nC^?n?/]?nC^?Cl!?Ob?D?Cl!?S@?D?|?T?w?D?|?T?nH?nC^?Cl!?/]?D?Cl!? 0?nC^?Cl!?K|Z?nC^?Cl!?rh?nC^?Cl!?k?nC^?ƻL?Ob?D?ƻL?S@?D?&?/]?D?&?K|Z?D?&?rh?D?&?k?D?&?ʡK=?nC^?ƻL?v?D?ƻL? c?D?Er?W-2uf?D? V?[d;_B?nC^? V?v?D? V? c?nC^? V?"y?nC^? V? ?D?M#?_I?D?M#?gff?D?M#?o@DI?D?M#?xޔ?D?M#?jx?D?M#?N,?D?Gz?l{Q?D?M#?v?D?M#?"y?D?Gz?xM?D?什 ?w?D?什 ?nH?D?Ԋ/? 0?D?Ԋ/?xM?D?I XU?/]?D?I XU?K|Z?D?I XU?rh?D?I XU?k?D?/%{?t~?nC^?/%{?v?D?/%{? c?D?I XU?v?D?I XU?"y?D?(\?ʡK=? p+?u?gff? p+?}?5^R?W-2uf??}?5^R?[d;_B??y&1?_I??y&1?gff? p+?}?5^R?o@DI??}?5^R?ktw#? p+?Qi?W-2uf??Qi?[d;_B??CD?o@DI? p+?Qi?xޔ??Qi?thmo??A`幏?W-2uf??n?S@??A`幏?xޔ??A`幏?jx??A`幏?N,??n?l{Q??Cl!?S@??|?T?w??|?T?nH??Cl!? 0??ƻL?S@??&?/]??&?K|Z??&?rh??&?k? p+?ƻL?ʡK=??ƻL?t~??Er?W-2uf?? V?[d;_B??Er?ʡK=??Er?v? p+? V?v?? V?L??M#?_I??M#?gff??M#?o@DI??M#?xޔ? p+?Gz?jx??Gz?|ǫ? p+?Gz?N,??M#?"y??Gz?xM??什 ?jx??什 ?N,??什 ?w? p+?Ԋ/?nH??Ԋ/?z??Ԋ/?xM??I XU?nH??I XU?/]? p+?/%{?K|Z??/%{?p=4? p+?/%{?rh? p+?/%{?k??/%{? c??I XU?v??I XU?"y??(\?K|Z??(\?rh??(\?k??(\?ʡK=?/ ?}?5^R?_I?/ ?}?5^R?gff?E3?CD?_I?E3?Qi?[d;_B?E3?CD?gff?E3?CD?o@DI?E3?Qi?thmo?/ ?n?W-2uf?E3?n?[d;_B?E3?A`幏?xޔ?E3?A`幏?jx?E3?A`幏?N,?E3?n?l{Q?/ ?Cl!?W-2uf?E3?Cl!?[d;_B?E3?|?T?w?/ ?Cl!?nH?E3?Cl!?z?/ ?ƻL?W-2uf?E3?ƻL?[d;_B?E3?&?nH?E3?&?/]?E3?&?K|Z?/ ?ƻL?rh?E3?ƻL?ZI?/ ?ƻL?k?E3?Er?_I?/ ? V?_I?E3? V?cX?E3?Er?rh?E3?Er?k?E3?Er?ʡK=?E3?Er?v?E3? V?L?E3?M#?gff?E3?M#?o@DI?/ ?Gz?xޔ?E3?Gz?thmo?E3?M#?"y?E3?Gz?xM?E3?什 ?xޔ?E3?什 ?jx?E3?什 ?N,?/ ?Ԋ/?w?E3?Ԋ/?l{Q?/ ?Ԋ/?"y?E3?Ԋ/?L?E3?什 ?"y?E3?I XU?w?E3?I XU?nH?E3?I XU?/]?E3?I XU?K|Z?/ ?/%{?K|Z?E3?I XU?rh?/ ?/%{?rh?E3?I XU?k?/ ?/%{?k?E3?I XU?ʡK=?/ ?/%{?ʡK=?E3?/%{? c?/ ?/%{?v?E3?/%{?L?E3?(\?v?p=/?Qi?_I?p=/?Qi?gff?p=/?Qi?o@DI?p=/?n?_I?p=/?n?gff?`B?n?ktw#?`B?A`幏?o@DI?`B?A`幏?xޔ?p=/?n?jx?`B?n?|ǫ?p=/?n?N,?p=/?Cl!?_I?p=/?Cl!?gff?`B?Cl!?ktw#?`B?|?T?jx?`B?|?T?N,?`B?|?T?w?`B?Cl!?z?p=/?ƻL?_I?p=/?ƻL?gff?`B?ƻL?ktw#?`B?&?nH?`B?&?/]?p=/?ƻL?K|Z?`B?ƻL?p=4?p=/? V?gff?`B?Er?o@DI?p=/? V?o@DI?`B? V?thmo?`B?Er?K|Z?`B?Er?rh?`B?Er?k?`B?Er?ʡK=?p=/? V?v?`B? V? c?`B?M#?xޔ?p=/?Gz?xޔ?`B?M#?jx?p=/?Gz?jx?`B?Gz?!F?`B?M#?v?p=/?Gz?"y?`B?Gz?L?`B?什 ?N,?`B?Ԋ/?l{Q?`B?Ԋ/?L?`B?I XU?w?`B?I XU?nH?`B?I XU?/]?`B?I XU?K|Z?`B?I XU?rh?`B?I XU?k?`B?I XU?ʡK=?`B?I XU?v?p=/?/%{?v?KU?n?o@DI?KU?n?xޔ?KU?Cl!?o@DI?KU?Cl!?xޔ?KU?Cl!?jx?KU?Cl!?N,?KU?Cl!?w?KU?ƻL?o@DI?KU?ƻL?xޔ?KU?ƻL?jx?ҍyh?ƻL?!F?ҍyh?&?N,?ҍyh?&?w?ҍyh?&?nH?KU?ƻL?/]?ҍyh?ƻL? 0?ҍyh?&?K|Z?ҍyh?ƻL?p=4?KU?ƻL?K|Z?ҍyh?ƻL?ZI?KU? V?xޔ?KU? V?jx?ҍyh? V?!F?ҍyh?Er?/]?ҍyh?Er?rh?KU? V?k?ҍyh? V?v>?KU? V?ʡK=?ҍyh?M#?N,?KU?Gz?N,?ҍyh?Gz?l{Q?ҍyh?M#?k?KU?Gz?ʡK=?ҍyh?Gz?t~?KU?Gz?v?ҍyh?什 ?w?KU?Ԋ/?w?ҍyh?什 ?nH?KU?Ԋ/?nH?ҍyh?什 ?/]?KU?Ԋ/?/]?ҍyh?什 ?K|Z?KU?Ԋ/?K|Z?ҍyh?Ԋ/?ZI?ҍyh?什 ?ʡK=?KU?Ԋ/?v?ҍyh?Ԋ/? c?ҍyh?I XU?rh?ҍyh?I XU?k?ҍyh?I XU?ʡK=?Z$`{?ƻL?N,?Z$`{?ƻL?w?Z$`{?ƻL?nH?Z$`{?ƻL?K|Z?Z$`{? V?N,?Z$`{? V?w?Z$`{? V?nH?Z$`{? V?/]?Z$`{? V?K|Z?Z$`{? V?rh?Z$`{?Gz?w?Z$`{?Gz?nH?Z$`{?Gz?/]?Z$`{?Gz?K|Z?Z$`{?Gz?rh?Z$`{?Gz?k?Z$`{?Ԋ/?rh?Z$`{?Ԋ/?k?Z$`{?Ԋ/?ʡK=?  + +  +         + + +  +    !  """"###%$%#%&$%!'!'()"') ))"$ +*+ &+ $& -,*-*+.,-('/(/01')/'12 2) 21)33234**5*,4*5,.67,65,787690/9/191::12:2;;23;3<<3<=<>>=4?4>??45?5@@57@7AA78DCBFEBFBCGEFJIHHIDBHDKHBLBEKBLEGMEMLNJHNHKNKOQPOKQOLQKLMRLRQSPQSQRVUTXWTXTUZYWZWX[YZ^]\\]VT\V_\T__W_TWWWY[`Y`Y```adcbbc^\b^eb\!e e_ e\_ _aff##g%fg#&%g&ghidbkjibkiekb(k!!kehl&&l++m-lm+on.-o.mo-pnojkqjqr0q((qkn6.ts8t86pt6np6ustvrqvq09v0wv9x9:xw9y:;yx:z;<zy;{<={z<}{|{>|{=>|>~>~>??@?A@A8sAsAsCDsDsDsuFCFGF}||~JIIIIDMGMMJJNONOPORRMPPSPSRSSVUVUXUXZX[Z[Z^]]]V`[a`aacdcdc^aafgfghgdiddjihlhllmlmompoporjjtpuutttvvrvwvvxwwxxxyzyzzzz{{}}~u}}~~~ +            + +        ! !!!"###$#%%$&&%&''('((()())*"+++-,+,+,.*.//.1/0/0/0-2,,23231041454064674666899:;:;33;<54<47=8=?=>=>=>@A@A9B9ABB9:C?>C>@EDEDGFDFDFHIHIJIJJLKJKJKMMNNNEGOFFOHLPKKPPPQSRSQSUTRURSVTUXWMXMXMWNRRRTZYZVZTV[YZ]\ ]  + XX \Y _^_ [_ Y[ `^_] +a]^cbc`c^`dbcefeafebbgbdgbhghkjilkimfeemnmnoogphjkpk phpp ! kq!klqkr!q"!rutsvuswnw#ywxw$xw#$%z$$zx&{%%{z|{&|&}|o}}o'}~}''(~')()*)qrtuu+"r"+--+v+uv+yxxzzz{{{|*.*././1/22--231115667688;:;:;355<<7<88==??AA@ABAB:B??CC@CEDGDIHIIJIJLJNENNOGGOOHLPLPPQPQSQSUSVUVXWXWNVVZ[Z[\]\]\X_[[[`_a]ac``dcfafgdggijiililffmmnnpgpjqqqlstvsnwnnyw|}~}}~~qtvyy|   + + +    + +   +       ! """##"$$#%%$&&%''&''(*)))+)!+*,(,--,--.*)))/*0.0110221332334655//67478875589::9:;<;<<>=<=<??=?@AA@ACB9C9C9B::BD:D;>E=GFEF=EF?=FF?H@@@IA@HIJAJIJAJKKLLLCGMFMONMNFMFHNHPHNHQIHPQQ JQ IQJJ  RK KLKSSKROTNNTPPTUWVUVPUVQPX QXVXQY  Y XY ZRR SR[[RZW\VV\XX\]_^]^X]^YX`Y`^`Yaa`bbabcZZ[ZddZc_e^^e``ef`faafgagbbghbhhhiikjijijcldclclllmjknnkopjpnpjq qpq! rmr"s"#sr"t#$ts#u$%ut$v%&vu%w&'wv&'(ww(xoynnyppyz{)+p{+qp+z{pq+!|x(|(,},-}|,-.}}.~{/)/{~..001012123234456666/6447887885;<><CBBBDB;DDDEE>EGELLCMMGMOMLSLOTOTTUTWUW[S[WW\\]\_]_d[d__eefefgfghgihikiddllmmokoommrrsrststutvuvwvvxwyoyzy{z{x|x|}|}~}{~~   + +  +      +  +   +   +         !!"#"!##$" %%%%&'&'('((*)()()!!!#,+++$$#.-,,-+./-*0)02101)0)1,,,.3/.3.3334122251646776887998::9;;:<<;>===<5=>5>5>> ?@@?@A?? ?B@?ABC@CBC@DDCEEDEFAAAGBAFGBHCBGHJDIDHIDCHDJEEJKEKKKLLNMLML MQPORQO"FF"$SF$GFSGTHGSTIHUUHTNVMPQVQ%V MV V%RWQW%QW&%WYX'WX&W'Z('Z'XZ*(+S$S+-S-T\[//[-[U-UT-\][Y^X`_^_X^_ZXa0*Za*_aZa203\/cb44b3b]3]\3edccdbgfeefdihgghfijh`k_mlkl_kla_l52l2a6c4c67c7ee78e8gg89g9inji9ni:n9o:;on:p;<po;=lmp=m<=pl=5IqJrKJrJqsLKsKrsNLPtOtROUuqUqIqvrquvrwsrvwxVNsxNwxstPVxtVytxzWRtzRyztzYW[uUu[]{u]vu{v|wv{|w}xw|}x~yx}~yzy~^YzYz`^b{]{bd{d||df|f}}fh}h~~hj~j~k``mknjnooopppm \ No newline at end of file diff --git a/alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/mesh_Batch_0_Sampling_0072_Local_0001.ply b/alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/mesh_Batch_0_Sampling_0072_Local_0001.ply new file mode 100644 index 0000000000000000000000000000000000000000..9ebf7fe552d053df820c30aa8896a5ff2f796ca4 Binary files /dev/null and b/alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/mesh_Batch_0_Sampling_0072_Local_0001.ply differ diff --git a/alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/mesh_Batch_0_Sampling_0072_Local_0002.ply b/alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/mesh_Batch_0_Sampling_0072_Local_0002.ply new file mode 100644 index 0000000000000000000000000000000000000000..fa00c5e995f999e410295362742e2f67309e7574 Binary files /dev/null and b/alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/mesh_Batch_0_Sampling_0072_Local_0002.ply differ diff --git a/alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/mesh_Batch_0_Sampling_0073_Local_0000.ply b/alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/mesh_Batch_0_Sampling_0073_Local_0000.ply new file mode 100644 index 0000000000000000000000000000000000000000..918a489be4b91b44c39ac2bca3327e1b3ba9f063 Binary files /dev/null and b/alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/mesh_Batch_0_Sampling_0073_Local_0000.ply differ diff --git a/alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/mesh_Batch_0_Sampling_0078_Local_0000.ply b/alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/mesh_Batch_0_Sampling_0078_Local_0000.ply new file mode 100644 index 0000000000000000000000000000000000000000..d0c03ea178e8e1d895a9a9575ba1380027ba0410 Binary files /dev/null and b/alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/mesh_Batch_0_Sampling_0078_Local_0000.ply differ diff --git a/alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/mesh_Batch_0_Sampling_0081_Local_0001.ply b/alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/mesh_Batch_0_Sampling_0081_Local_0001.ply new file mode 100644 index 0000000000000000000000000000000000000000..8a9a1a03c75ea5f47067bda61f8d74a4b3835bc9 --- /dev/null +++ b/alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/mesh_Batch_0_Sampling_0081_Local_0001.ply @@ -0,0 +1,182 @@ +ply +format binary_little_endian 1.0 +comment Created by Open3D +element vertex 584 +property double x +property double y +property double z +element face 1164 +property list uchar uint vertex_indices +end_header +7A A?Se?S#?@?/$?S#?@?Se?M\?@?Se?Zd?7A A??G7?@?x馧?G7?@??8A`?7A A??S#?@?x馧?A`?7A A??A`?@??gff?@?(,?G7?@?liQ?M\?7A A?liQ?S#?7A A?liQ?A`?@?liQ?gff?@?I v?S#?@?I v?A`?GaQ?= +vs?G7?ʁ?`ТfN?G7?ʁ?= +vs?8A`?GaQ?= +vs?S#?ʁ?`ТfN?S#?ʁ?= +vs?Zd?GaQ?Se?[d;?ʁ?/$?[d;?ʁ?Se?~?5ޓ?GaQ?Se?G7?GaQ?Se?A`?ʁ?/$?A`?ʁ?Se?gff?GaQ??[d;?ʁ??~?5ޓ?ʁ??gff?GaQ?liQ?[d;?ʁ?liQ?~?5ޓ?GaQ?liQ?G7?ʁ?(,?Dl'&?GaQ?liQ?Dl'&?ʁ?liQ?!rh6;?ʁ?I v?[d;?ʁ?&1?8A`?GaQ?&1?G7?GaQ?&1?S#?GaQ?&1?A`?GaQ?&1?Dl'&?ʁ?&1?!rh6;?ʁ?V- ?G7?ʁ?V- ?S#?ʁ?V- ?A`?ʁ?V- ?Dl'&?Ma?aV)?q= +"?`? F?q= +"?`?aV)??`?aV)?NbX2?`?`ТfN?q= +"?Ma?= +vs?"cY?`?`ТfN?"cY?`?= +vs? R4?`?= +vs?(\s~?`?`ТfN?G7?`?= +vs?8A`?`?`ТfN?S#?`?= +vs?Zd?Ma?Se?"cY?`?Se? R4?`?/$?/?Ma?Se?/?`?/$?[d;?`?/$?A`?`?Se?gff?Ma??"cY?`?? R4?Ma??/?`??gff?`?(,?"cY?`?(,?/?`?liQ?~?5ޓ?`?(,?Dl'&?`?liQ?!rh6;?Ma?&1?[d;?`?&1?~?5ޓ?`?&1?!rh6;?`?V- ?[d;?Ma?zn?G7?`?zn?8A`?`?zn?M\?`?V- ?S#?Ma?zn?A`?`?zn?Zd?Ma?zn?Dl'&?`?zn?!rh6;?`?) ?G7?`?) ?A`?`?) ?Dl'&?Sq"?v5?{?> +4?Q%?{?> +4?v5?SU?Sq"?v5?q= +"?> +4?Q%?q= +"?Sq"?v5?,B?> +4?Q%?,B?> +4?v5? R4?Sq"?aV)?0?> +4? F?0?> +4?aV)? ?Sq"?aV)?{?Sq"?aV)?,B?> +4? F?"cY?Sq"?aV)?"cY?> +4?aV)?(\s~?Sq"?= +vs?0?> +4?= +vs? ?Sq"?= +vs?{?Sq"?= +vs?q= +"?Sq"?= +vs?,B?> +4?= +vs?(\s~?Sq"?= +vs?G7?Sq"?= +vs?S#?> +4?/$?0?> +4?/$?{?> +4?Se??Sq"?Se?q= +"?Sq"?Se?,B?> +4?/$?/?> +4?/$?[d;?Sq"?Se?G7?> +4?Se?8A`?> +4?Se?M\?> +4?/$?S#?Sq"?Se?A`?> +4?Se?Zd?Sq"??q= +"?> +4???Sq"??,B?> +4?x馧?G7?Sq"??A`?> +4??Zd?> +4?(,?q= +"?> +4?(,?,B?Sq"?liQ?"cY?> +4?liQ? R4?Sq"?liQ?/?> +4?(,?A`?> +4?(,?Dl'&?> +4?liQ?!rh6;?> +4?I v?"cY?> +4?&1?(\s~?Sq"?&1?/?> +4?&1?!rh6;?> +4?V- ?/?Sq"?zn?[d;?> +4?zn?~?5ޓ?Sq"?zn?S#?> +4?zn?!rh6;?> +4?) ?[d;?> +4?) ?G7?> +4?) ?S#?> +4?) ?A`?> +4?) ?Dl'&?Z$G?-]?{?/D +Z?1p?{?/D +Z?-]?SU?/D +Z?-]??Z$G?v5?B`?/D +Z?Q%?B`?/D +Z?v5?e;O?Z$G?v5?0?/D +Z?Q%?0?/D +Z?Q%?q= +"?Z$G?v5?,B?/D +Z?v5?NbX2?Z$G?aV)?B`?/D +Z?aV)?e;O?/D +Z? F?,B?/D +Z? F?"cY?/D +Z?aV)?(\s~?/D +Z?`ТfN?B`?/D +Z?= +vs? ?/D +Z?= +vs?(\s~?/D +Z?/$?0?Z$G?Se?{?/D +Z?Se?SU?/D +Z?/$?/?Z$G?Se?[d;?/D +Z?Se?~?5ޓ?Z$G?Se?S#?/D +Z?x馧?{?/D +Z???/D +Z?x馧?[d;?/D +Z?x馧?G7?Z$G??S#?/D +Z??M\?Z$G?liQ?q= +"?/D +Z?liQ??Z$G?liQ?,B?/D +Z?(,?S#?/D +Z?(,?A`?Z$G?liQ?Dl'&?/D +Z?liQ?gff?/D +Z?I v?q= +"?/D +Z?I v?,B?/D +Z?I v?"cY?/D +Z?&1?(\s~?/D +Z?I v?Dl'&?/D +Z?&1?!rh6;?Z$G?zn?/?/D +Z?zn?(\s~?/D +Z?zn?!rh6;?/D +Z?) ?/?/D +Z?) ?[d;?/D +Z?) ?G7?/D +Z?) ?S#?Z$G? 90?A`?/D +Z? 90?Zd?Z$G? 90?Dl'&?/D +Z? 90?!rh6;?/D +Z?x&1JU?A`?/D +Z?x&1JU?Dl'&?A`el?-]?B`?S?1p?B`?S?-]?e;O?A`el?-]?0?S?1p?0?S?1p?{?S?-]??S?v5?e;O?S?Q%?q= +"?S?v5?NbX2?S?aV)?e;O?S? F?,B?S? F?"cY?A`el?aV)?/?S? F?/?S?aV)?~?5ޓ?A`el?= +vs?B`?S?= +vs?e;O?S?= +vs?(\s~?S?`ТfN?/?S?/$?B`?A`el?Se?0?S?Se? ?S?/$?/?S?Se?~?5ޓ?S?x馧?0?A`el??{?S??SU?S?x馧?[d;?A`el??G7?S??8A`?S?(,?{?S?liQ??S?(,?G7?S?(,?S#?S?(,?A`?S?liQ?gff?A`el?&1?q= +"?S?&1??A`el?&1?,B?A`el?&1?"cY?S?I v?Dl'&?S?&1?!rh6;?S?V- ?q= +"?S?V- ?,B?S?V- ?"cY?S?zn?(\s~?S?V- ?xF`?A`el?zn?xF`?S?zn?~V?S?) ?/?S?) ?[d;?A`el? 90?G7?S? 90?8A`?A`el? 90?S#?S? 90?!rh6;?S?) ?xF`?S?x&1JU?G7?S?x&1JU?S#?S?x&1JU?A`?S?x&1JU?Dl'&?fff?-]?B`?x*?-]? ?x*?1p?0?x*?1p?{?x*?-]??x*?Q%?B`?x*?v5?e;O?fff?v5?q= +"?x*?v5??x*?aV)?e;O?x*? F?q= +"?fff?aV)?,B?x*?aV)?NbX2?fff?aV)?"cY?fff?aV)?/?x*?= +vs?e;O?x*?`ТfN?,B?fff?= +vs?"cY?x*?= +vs? R4?x*?/$?B`?x*?Se? ?fff?Se?"cY?x*?Se? R4?fff?Se?/?fff??0?x*?? ?x*?x馧?"cY?x*?x馧?/?x*?x馧?[d;?x*??8A`?x*?(,?0?fff?liQ?{?x*?liQ?SU?x*?(,?G7?fff?liQ?S#?x*?liQ?M\?fff?liQ?A`?x*?I v?{?x*?&1??x*?I v?S#?x*?I v?A`?x*?I v?Dl'&?x*?&1?!rh6;?x*?V- ?q= +"?x*?V- ?,B?fff?zn?"cY?x*?zn? R4?fff?zn?xF`?x*?zn?!rh6;?x*?) ?"cY?fff? 90?/?x*? 90?(\s~?fff? 90?[d;?x*? 90?!rh6;?x*?x&1JU?/?x*?x&1JU?[d;?x*?x&1JU?G7?fff?V-rZz?S#?x*?V-rZz?M\?fff?V-rZz?A`?x*?V-rZz?gff?x*?x&1JU?Dl'&?x*?333j?S#?x*?333j?A`?Dl粶?-]?0?Dl粶?-]?{?Dl粶?v5?B`?;?v5? ?;?Q%?0?Dl粶?v5?{?;?v5?SU?Dl粶?aV)?B`?;?aV)? ?;? F?{?Dl粶?aV)?q= +"?;?aV)??Dl粶?= +vs?B`?;?= +vs? ?;?`ТfN?q= +"?;?`ТfN?,B?;?= +vs? R4?;?Se? ?;?Se? R4?;?? ?Dl粶??"cY?;?? R4?;??(\s~?;?x馧?/?Dl粶??[d;?;??~?5ޓ?Dl粶?liQ?0?;?liQ? ?;?(,?"cY?;?(,?[d;?Dl粶?liQ?G7?;?liQ?8A`?;?I v?0?Dl粶?&1?{?;?&1?SU?;?I v?G7?;?I v?S#?Dl粶?&1?A`?;?&1?Zd?Dl粶?&1?Dl'&?;?V- ?{?;?V- ?q= +"?Dl粶?zn?,B?;?zn?NbX2?;?V- ?A`?Dl粶?zn?Dl'&?;?zn?gff?;?) ?,B?;?) ?"cY?;? 90?(\s~?;?) ?Dl'&?;? 90?!rh6;?;?x&1JU?/?;?x&1JU?[d;?Dl粶?V-rZz?G7?;?V-rZz?8A`?;?V-rZz?gff?;?x&1JU?Dl'&?;?333j?G7?;?333j?S#?;?333j?A`?!r(?v5?0?HK? F?0?HK?aV)? ?HK? F?{?HK?aV)??HK?= +vs? ?HK?`ТfN?q= +"?!r(?= +vs?,B?HK?= +vs?NbX2?HK?Se? ?HK?/$?,B?HK?/$?"cY?!r(?Se?"cY?HK?Se?(\s~?HK?? ?!r(??"cY?HK?x馧?/?HK??~?5ޓ?HK?liQ? ?HK?(,?[d;?HK?liQ?8A`?HK?I v?0?HK?&1?SU?HK?I v?G7?!r(?&1?S#?HK?&1?M\?HK?V- ?{?HK?V- ?q= +"?HK?zn?NbX2?HK?V- ?S#?HK?V- ?A`?HK?zn?gff?HK?) ?,B?HK?) ?"cY?HK?) ?/?!r(? 90?/?HK?) ?[d;?!r(? 90?[d;?HK? 90?8A`?HK?) ?Dl'&?HK? 90?!rh6;?HK?V-rZz?8A`?HK?V-rZz?gff?HK?x&1JU?Dl'&?HK?333j?G7?HK?333j?S#?HK?333j?A`?xi?aV)?0?l[?aV)?SU?l[? F?{?l[?aV)??xi?= +vs?0?l[?= +vs?SU?l[?`ТfN?q= +"?xi?= +vs?,B?l[?`ТfN?,B?l[?= +vs? R4?xi?Se?0?l[?Se?SU?l[?/$?"cY?l[?Se?(\s~?xi??0?l[??SU?l[?x馧?/?l[??~?5ޓ?xi?liQ?0?l[?liQ?SU?l[?(,?[d;?l[?liQ?8A`?l[?I v?{?xi?&1?{?l[?&1??l[?I v?G7?l[?&1?M\?l[?V- ?q= +"?l[?V- ?,B?xi?zn?,B?l[?zn? R4?l[?V- ?S#?xi?zn?A`?l[?zn?Zd?l[?) ?"cY?xi? 90?/?l[? 90?(\s~?xi? 90?[d;?l[?) ?A`?xi? 90?Dl'&?l[? 90?gff?l[?x&1JU?/?l[?x&1JU?[d;?l[?V-rZz?8A`?xi?V-rZz?S#?l[?V-rZz?M\?l[?x&1JU?S#?l[?x&1JU?A`?xi?V-rZz?A`?l[?333j?G7?~%?aV)?{?~%?= +vs?{?~%?= +vs?q= +"?~%?= +vs?,B?J k8?/$?{?J k8?Se?SU?J k8?/$?q= +"?~%?Se?,B?J k8?Se?NbX2?~%?Se?"cY?J k8??SU?J k8?x馧?,B?J k8?x馧?"cY?J k8?x馧?/?J k8??~?5ޓ?J k8?(,?{?~%?liQ?{?J k8?liQ??J k8?(,?[d;?J k8?liQ?8A`?J k8?I v?q= +"?~%?&1?q= +"?J k8?&1?NbX2?J k8?I v?G7?J k8?&1?M\?J k8?zn?NbX2?~%?zn?,B?~%?zn?S#?J k8?zn?M\?J k8?) ?,B?~%? 90?"cY?J k8? 90? R4?~%? 90?S#?J k8? 90?M\?~%? 90?A`?J k8?x&1JU?"cY?J k8?x&1JU?/?J k8?x&1JU?[d;?J k8?x&1JU?G7?~%?V-rZz?G7?J?Se?{?J?Se?q= +"?J??{?J??q= +"?J??,B?J??"cY?J??/?J?liQ?q= +"?'1 |]?liQ?NbX2?'1 |]?(,?,B?'1 |]?(,?"cY?'1 |]?(,?/?J?liQ?[d;?'1 |]?liQ?~?5ޓ?'1 |]?&1?NbX2?'1 |]?I v?[d;?J?&1?G7?'1 |]?&1?8A`?'1 |]?V- ?,B?J?zn?,B?'1 |]?zn? R4?'1 |]?V- ?G7?'1 |]?zn?M\?'1 |]?) ?"cY?J? 90?"cY?'1 |]?) ?/?J? 90?/?'1 |]?) ?[d;?J? 90?[d;?'1 |]?) ?G7?J? 90?G7?C,p?liQ?,B?C,p?liQ?"cY?C,p?liQ?/?C,p?&1?,B?C,p?&1?"cY?C,p?&1?/?C,p?&1?[d;?C,p?zn?"cY?C,p?zn?/?C,p?zn?[d;?C,p?zn?G7?   +        +     + +! + " "# $$$" $ &%!% +!'&%(#"*)("*($*"+ +$ +*$,,+&&,&-,&'.&.-/)*/*+/+00+,0,11,-1-22-.543634753736:98;89=<=><>>>?:8@:@A8;BC8B@8CCBCDB==D?EEEEFA@GAGHI@CG@I IICF!J!FKHGKGIKILI L ML #MJN!!N%'%N'NO#(PQ#PM#Q)P(O.'R.OSQPUSTTS/SP/P)/T/V/WV/0WYWXW1XW012Z11ZX[Z2.[2R[.\UT\TV]YX]XZ]Z^^Z[a`_cb_c_`edbebcfdeihggha_gajg_5j4jb4j_b4b6bk6bdkdflmdlkdmnmligoiopqgjogq7r5rj5rqj6k7kr7ksr:s9sm9skm;9mn;mt;n=u<v><v<uv?>wpowoqwqxzyxqzxrzq{rszr{A{::{st|;;|BB}D|}BD}=}~=~u=~}vv~vu~EvE?vEFEyzyz{zHAA{~~JFFKKHKLKKMLJNJNONOQMMRORSSQSUSVWYW[R[U\U\\V\\Y]Y]]^]^[^a`a`c`ecefeihhhaflflnlniiiptntppwxwxyxtt|}|}}yyy    + +   +          ! ""$#"#"%%#&&%&!'!$(#*)()#()%#)&)%)&&+'+++,)*--*./)/-/)/010,10.2--2//23/33344456108677660075999;:9:9<<:<=877=>=>;?::?<<?@<@@@AAABC>CDDCFDEDED E +GHGBHG  +IFEKIJJI IE E  L  LJLGHHHMG NKJNJLNLOOLOPORPQPQPSSQSTUTUMMUVRQVQSVSWWSTXYYXYZZ[[[\\X^]\]X\]YX] ]Y!_Z!Z[Z``Z_^a]acbab"]a" ]"b$"'d_'_!`_ee_dcfbbf$f($fg(*(g*gh+d'+,d,ed,ieh.*j.h1i,1ki2.l.ml.jm2lno2n32ooqp4op3o4p5416rs1rk1s8r6mtlltnqupuwvuv9pu95p9v;9xsrzxyyx=xr=r8=>y=w{vv{;{?;{|?|~}@|}?|@A@@}BAzyy>C>CDCDFD~}}}HBBFIFIIKKHHMHKKNNONPOPRPUUTUMURVRVVWVWTW[\^\[`[^a^acace`eccfgfghgieijhjjkikmmjonnnqoqskstmtnqquwuwssxxzzww{|{|~|zz~~   + + +   +           ! !""!"##"$$#$  % ! %'"&"%&"!%"'##'(#($$())+*)*$)$*  +% + % &% ,&+-*-/.-. *-  * . 10,0 ,120/3..343416555221876675:98897<;::;94;<4<4666888:::<<&='>('>'=?)(?(>?+),@=,=&=A>=@A>B?>ABC-+?C+BC?C/-0@,@02D@2A@DAEBADEBFCBEFG3/CG/FGCG435D2D57D7EE79E9FF9;F;GG;4 \ No newline at end of file diff --git a/alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/mesh_Batch_0_Sampling_0091_Local_0001.ply b/alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/mesh_Batch_0_Sampling_0091_Local_0001.ply new file mode 100644 index 0000000000000000000000000000000000000000..fe273867b4554f844c4b4e93f66c11b32586ecf4 Binary files /dev/null and b/alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/mesh_Batch_0_Sampling_0091_Local_0001.ply differ diff --git a/alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/mesh_Batch_0_Sampling_0091_Local_0002.ply b/alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/mesh_Batch_0_Sampling_0091_Local_0002.ply new file mode 100644 index 0000000000000000000000000000000000000000..f142cb6c0b017a27155766f44dd23d73e845dc89 Binary files /dev/null and b/alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/mesh_Batch_0_Sampling_0091_Local_0002.ply differ diff --git a/alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/mesh_Batch_0_Sampling_0093_Local_0002.ply b/alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/mesh_Batch_0_Sampling_0093_Local_0002.ply new file mode 100644 index 0000000000000000000000000000000000000000..541b8d5e47e48847695bcbc8a7c88f882109f075 Binary files /dev/null and b/alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/mesh_Batch_0_Sampling_0093_Local_0002.ply differ diff --git a/alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/mesh_Batch_0_Sampling_0094_Local_0001.ply b/alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/mesh_Batch_0_Sampling_0094_Local_0001.ply new file mode 100644 index 0000000000000000000000000000000000000000..617f4cdff66e6ba82bd6ebbb91f10fdc44628a3f Binary files /dev/null and b/alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/softzoo/design/mesh_Batch_0_Sampling_0094_Local_0001.ply differ diff --git a/alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/training.log b/alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/training.log new file mode 100644 index 0000000000000000000000000000000000000000..5ab7c82dc3517ad89f93982877a71a25531c33a0 --- /dev/null +++ b/alpha_check_hand_img_grad_scale1e-3_clamp1e-4_k3_thresh96_grippinglossnew_frame150_seed310_alpha_10_ddim256/training.log @@ -0,0 +1,2098 @@ +2025-09-10 09:12:12,487 [INFO] Cannot import nvdiffrast +2025-09-10 09:13:05,941 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 09:13:05,941 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 09:13:05,942 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 09:13:05,942 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 09:13:51,888 [WARNING] Warning!!! Insufficient points sampled. Mesh may not be watertight → falling back to voxelization +2025-09-10 09:13:51,979 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 09:14:56,925 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 09:15:48,088 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 09:15:55,044 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 09:15:55,045 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 09:15:55,045 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 09:15:55,045 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 09:16:43,439 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 09:17:44,542 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 09:18:20,232 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 09:18:28,004 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 09:18:28,004 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 09:18:28,004 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 09:18:28,005 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 09:19:14,368 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 09:20:14,856 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 09:20:50,226 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 09:20:58,333 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 09:20:58,333 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 09:20:58,333 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 09:20:58,334 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 09:21:46,704 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 09:22:44,338 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 09:23:20,202 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 09:23:28,341 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 09:23:28,341 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 09:23:28,341 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 09:23:28,342 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 09:24:16,174 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 09:25:14,608 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 09:25:50,459 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 09:25:59,462 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 09:25:59,462 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 09:25:59,463 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 09:25:59,463 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 09:26:46,642 [WARNING] Warning!!! Insufficient points sampled. Mesh may not be watertight → falling back to voxelization +2025-09-10 09:26:46,726 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 09:27:45,128 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 09:28:20,696 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 09:28:28,410 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 09:28:28,410 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 09:28:28,410 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 09:28:28,410 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 09:29:18,207 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 09:30:16,716 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 09:30:52,991 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 09:31:01,549 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 09:31:01,549 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 09:31:01,549 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 09:31:01,549 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 09:31:49,224 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 09:32:51,991 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 09:33:28,730 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 09:33:36,809 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 09:33:36,809 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 09:33:36,809 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 09:33:36,810 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 09:34:23,623 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 09:35:27,446 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 09:36:02,991 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 09:36:11,051 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 09:36:11,052 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 09:36:11,052 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 09:36:11,052 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 09:37:00,711 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 09:38:02,825 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 09:38:39,160 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 09:38:47,445 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 09:38:47,446 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 09:38:47,446 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 09:38:47,446 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 09:39:36,266 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 09:40:35,924 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 09:41:12,242 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 09:41:20,379 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 09:41:20,379 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 09:41:20,379 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 09:41:20,380 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 09:42:07,512 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 09:43:05,360 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 09:43:41,309 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 09:43:49,640 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 09:43:49,641 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 09:43:49,641 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 09:43:49,641 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 09:44:37,221 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 09:45:35,684 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 09:46:11,506 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 09:46:20,094 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 09:46:20,094 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 09:46:20,094 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 09:46:20,095 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 09:47:07,560 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 09:48:06,147 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 09:48:41,960 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 09:48:50,271 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 09:48:50,271 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 09:48:50,271 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 09:48:50,271 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 09:49:36,801 [WARNING] Warning!!! Insufficient points sampled. Mesh may not be watertight → falling back to voxelization +2025-09-10 09:49:36,887 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 09:50:35,417 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 09:51:11,739 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 09:51:19,579 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 09:51:19,579 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 09:51:19,579 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 09:51:19,579 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 09:52:04,993 [WARNING] Warning!!! Insufficient points sampled. Mesh may not be watertight → falling back to voxelization +2025-09-10 09:52:05,076 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 09:53:00,144 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 09:53:35,922 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 09:53:43,687 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 09:53:43,687 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 09:53:43,687 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 09:53:43,687 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 09:54:28,441 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 09:55:24,374 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 09:56:00,196 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 09:56:08,135 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 09:56:08,135 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 09:56:08,135 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 09:56:08,136 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 09:56:54,137 [WARNING] Warning!!! Insufficient points sampled. Mesh may not be watertight → falling back to voxelization +2025-09-10 09:56:54,227 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 09:57:49,545 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 09:58:25,197 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 09:58:33,056 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 09:58:33,056 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 09:58:33,056 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 09:58:33,057 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 09:59:17,597 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 10:00:13,405 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 10:00:49,120 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 10:00:56,716 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 10:00:56,716 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 10:00:56,716 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 10:00:56,717 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 10:01:40,323 [WARNING] Warning!!! Insufficient points sampled. Mesh may not be watertight → falling back to voxelization +2025-09-10 10:01:40,411 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 10:02:35,760 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 10:03:11,431 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 10:03:18,745 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 10:03:18,745 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 10:03:18,745 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 10:03:18,746 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 10:04:02,092 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 10:04:57,740 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 10:05:33,577 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 10:05:42,191 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 10:05:42,191 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 10:05:42,191 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 10:05:42,191 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 10:06:26,323 [WARNING] Warning!!! Insufficient points sampled. Mesh may not be watertight → falling back to voxelization +2025-09-10 10:06:26,411 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 10:07:21,465 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 10:07:57,426 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 10:08:04,976 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 10:08:04,976 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 10:08:04,976 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 10:08:04,977 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 10:08:49,746 [WARNING] Warning!!! Insufficient points sampled. Mesh may not be watertight → falling back to voxelization +2025-09-10 10:08:49,837 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 10:09:45,251 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 10:10:21,185 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 10:10:28,897 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 10:10:28,897 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 10:10:28,897 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 10:10:28,897 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 10:11:17,703 [WARNING] Warning!!! Insufficient points sampled. Mesh may not be watertight → falling back to voxelization +2025-09-10 10:11:17,794 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 10:12:14,186 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 10:12:49,858 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 10:12:57,724 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 10:12:57,724 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 10:12:57,724 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 10:12:57,725 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 10:13:44,486 [WARNING] Warning!!! Insufficient points sampled. Mesh may not be watertight → falling back to voxelization +2025-09-10 10:13:44,578 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 10:14:42,931 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 10:15:19,122 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 10:15:27,207 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 10:15:27,208 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 10:15:27,208 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 10:15:27,209 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 10:16:12,496 [WARNING] Warning!!! Insufficient points sampled. Mesh may not be watertight → falling back to voxelization +2025-09-10 10:16:12,583 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 10:17:06,683 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 10:17:41,829 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 10:17:48,837 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 10:17:48,838 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 10:17:48,838 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 10:17:48,838 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 10:18:33,150 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 10:19:28,674 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 10:20:05,764 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 10:20:14,609 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 10:20:14,610 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 10:20:14,610 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 10:20:14,610 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 10:21:03,425 [WARNING] Warning!!! Insufficient points sampled. Mesh may not be watertight → falling back to voxelization +2025-09-10 10:21:03,523 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 10:22:02,193 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 10:22:37,971 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 10:22:45,550 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 10:22:45,550 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 10:22:45,551 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 10:22:45,551 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 10:23:30,501 [WARNING] Warning!!! Insufficient points sampled. Mesh may not be watertight → falling back to voxelization +2025-09-10 10:23:30,592 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 10:24:26,748 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 10:25:01,946 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 10:25:08,882 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 10:25:08,882 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 10:25:08,882 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 10:25:08,882 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 10:25:54,323 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 10:26:49,296 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 10:27:26,141 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 10:27:34,215 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 10:27:34,215 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 10:27:34,216 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 10:27:34,216 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 10:28:19,013 [WARNING] Warning!!! Insufficient points sampled. Mesh may not be watertight → falling back to voxelization +2025-09-10 10:28:19,105 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 10:29:13,420 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 10:29:49,421 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 10:29:56,590 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 10:29:56,590 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 10:29:56,591 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 10:29:56,591 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 10:30:41,101 [WARNING] Warning!!! Insufficient points sampled. Mesh may not be watertight → falling back to voxelization +2025-09-10 10:30:41,201 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 10:31:37,793 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 10:32:13,842 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 10:32:21,148 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 10:32:21,149 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 10:32:21,149 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 10:32:21,149 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 10:33:05,989 [WARNING] Warning!!! Insufficient points sampled. Mesh may not be watertight → falling back to voxelization +2025-09-10 10:33:06,082 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 10:34:00,234 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 10:34:36,071 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 10:34:43,734 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 10:34:43,734 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 10:34:43,734 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 10:34:43,735 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 10:35:28,411 [WARNING] Warning!!! Insufficient points sampled. Mesh may not be watertight → falling back to voxelization +2025-09-10 10:35:28,502 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 10:36:22,292 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 10:36:57,479 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 10:37:04,399 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 10:37:04,399 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 10:37:04,399 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 10:37:04,400 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 10:37:49,419 [WARNING] Warning!!! Insufficient points sampled. Mesh may not be watertight → falling back to voxelization +2025-09-10 10:37:49,507 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 10:38:43,499 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 10:39:18,276 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 10:39:25,152 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 10:39:25,152 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 10:39:25,152 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 10:39:25,153 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 10:40:12,123 [WARNING] Warning!!! Insufficient points sampled. Mesh may not be watertight → falling back to voxelization +2025-09-10 10:40:12,208 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 10:41:06,420 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 10:41:41,423 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 10:41:48,249 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 10:41:48,249 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 10:41:48,249 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 10:41:48,250 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 10:42:32,752 [WARNING] Warning!!! Insufficient points sampled. Mesh may not be watertight → falling back to voxelization +2025-09-10 10:42:32,836 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 10:43:27,990 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 10:44:02,930 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 10:44:09,505 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 10:44:09,505 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 10:44:09,505 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 10:44:09,505 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 10:44:54,812 [WARNING] Warning!!! Insufficient points sampled. Mesh may not be watertight → falling back to voxelization +2025-09-10 10:44:54,897 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 10:45:49,464 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 10:46:24,389 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 10:46:31,072 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 10:46:31,072 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 10:46:31,073 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 10:46:31,073 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 10:47:14,950 [WARNING] Warning!!! Insufficient points sampled. Mesh may not be watertight → falling back to voxelization +2025-09-10 10:47:15,032 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 10:48:09,271 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 10:48:44,111 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 10:48:50,783 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 10:48:50,783 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 10:48:50,783 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 10:48:50,783 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 10:49:36,871 [WARNING] Warning!!! Insufficient points sampled. Mesh may not be watertight → falling back to voxelization +2025-09-10 10:49:36,957 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 10:50:30,778 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 10:51:05,657 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 10:51:12,432 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 10:51:12,433 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 10:51:12,433 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 10:51:12,434 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 10:51:55,905 [WARNING] Warning!!! Insufficient points sampled. Mesh may not be watertight → falling back to voxelization +2025-09-10 10:51:55,985 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 10:52:51,046 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 10:53:24,641 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 10:53:30,607 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 10:53:30,607 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 10:53:30,607 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 10:53:30,607 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 10:54:13,695 [WARNING] Warning!!! Insufficient points sampled. Mesh may not be watertight → falling back to voxelization +2025-09-10 10:54:13,770 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 10:55:07,937 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 10:55:41,620 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 10:55:47,908 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 10:55:47,908 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 10:55:47,908 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 10:55:47,908 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 10:56:30,222 [WARNING] Warning!!! Insufficient points sampled. Mesh may not be watertight → falling back to voxelization +2025-09-10 10:56:30,307 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 10:57:24,672 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 10:58:00,333 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 10:58:07,913 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 10:58:07,913 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 10:58:07,913 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 10:58:07,914 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 10:58:52,961 [WARNING] Warning!!! Insufficient points sampled. Mesh may not be watertight → falling back to voxelization +2025-09-10 10:58:53,049 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 10:59:52,190 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 11:00:27,171 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 11:00:33,774 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 11:00:33,775 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 11:00:33,775 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 11:00:33,775 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 11:01:16,066 [WARNING] Warning!!! Insufficient points sampled. Mesh may not be watertight → falling back to voxelization +2025-09-10 11:01:16,153 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 11:02:14,554 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 11:02:50,762 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 11:02:58,869 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 11:02:58,869 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 11:02:58,869 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 11:02:58,869 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 11:03:40,702 [WARNING] Warning!!! Insufficient points sampled. Mesh may not be watertight → falling back to voxelization +2025-09-10 11:03:40,782 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 11:04:38,305 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 11:05:13,833 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 11:05:20,888 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 11:05:20,889 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 11:05:20,889 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 11:05:20,889 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 11:06:01,910 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 11:07:00,985 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 11:07:36,197 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 11:07:46,082 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 11:07:46,082 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 11:07:46,082 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 11:07:46,083 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 11:08:28,205 [WARNING] Warning!!! Insufficient points sampled. Mesh may not be watertight → falling back to voxelization +2025-09-10 11:08:28,281 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 11:09:25,987 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 11:10:00,411 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 11:10:06,974 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 11:10:06,974 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 11:10:06,974 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 11:10:06,974 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 11:10:48,562 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 11:11:46,929 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 11:12:23,849 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 11:12:32,790 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 11:12:32,790 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 11:12:32,790 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 11:12:32,791 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 11:13:17,078 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 11:14:19,458 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 11:15:00,171 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 11:15:11,949 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 11:15:11,949 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 11:15:11,949 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 11:15:11,950 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 11:15:53,329 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 11:16:52,947 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 11:17:31,251 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 11:17:43,344 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 11:17:43,344 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 11:17:43,344 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 11:17:43,344 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 11:18:26,892 [WARNING] Warning!!! Insufficient points sampled. Mesh may not be watertight → falling back to voxelization +2025-09-10 11:18:26,943 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 11:19:27,539 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 11:19:59,320 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 11:20:04,634 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 11:20:04,634 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 11:20:04,634 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 11:20:04,634 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 11:20:48,698 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 11:21:50,053 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 11:22:29,094 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 11:22:40,749 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 11:22:40,749 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 11:22:40,749 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 11:22:40,750 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 11:23:22,339 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 11:24:24,766 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 11:25:00,709 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 11:25:12,346 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 11:25:12,346 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 11:25:12,346 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 11:25:12,347 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 11:25:54,297 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 11:26:55,687 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 11:27:33,263 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 11:27:44,689 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 11:27:44,689 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 11:27:44,689 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 11:27:44,690 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 11:28:25,452 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 11:29:27,674 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 11:30:07,794 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 11:30:19,429 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 11:30:19,429 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 11:30:19,429 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 11:30:19,429 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 11:31:00,760 [WARNING] Warning!!! Insufficient points sampled. Mesh may not be watertight → falling back to voxelization +2025-09-10 11:31:00,807 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 11:32:00,460 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 11:32:32,813 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 11:32:38,695 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 11:32:38,695 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 11:32:38,695 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 11:32:38,696 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 11:33:20,005 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 11:34:23,240 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 11:35:02,340 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 11:35:13,700 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 11:35:13,700 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 11:35:13,700 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 11:35:13,701 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 11:35:54,970 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 11:36:58,208 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 11:37:39,258 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 11:37:50,850 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 11:37:50,850 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 11:37:50,850 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 11:37:50,850 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 11:38:46,775 [WARNING] Warning!!! Insufficient points sampled. Mesh may not be watertight → falling back to voxelization +2025-09-10 11:38:46,874 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 11:39:46,921 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 11:40:22,297 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 11:40:30,196 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 11:40:30,196 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 11:40:30,196 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 11:40:30,196 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 11:41:11,591 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 11:42:13,695 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 11:42:52,884 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 11:43:04,247 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 11:43:04,247 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 11:43:04,247 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 11:43:04,248 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 11:43:44,940 [WARNING] Warning!!! Insufficient points sampled. Mesh may not be watertight → falling back to voxelization +2025-09-10 11:43:44,982 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 11:44:45,678 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 11:45:16,860 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 11:45:21,796 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 11:45:21,796 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 11:45:21,796 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 11:45:21,796 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 11:46:02,591 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 11:47:05,662 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 11:47:46,584 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 11:47:58,153 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 11:47:58,154 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 11:47:58,154 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 11:47:58,154 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 11:48:37,877 [WARNING] Warning!!! Insufficient points sampled. Mesh may not be watertight → falling back to voxelization +2025-09-10 11:48:37,928 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 11:49:37,282 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 11:50:11,233 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 11:50:17,581 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 11:50:17,582 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 11:50:17,582 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 11:50:17,583 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 11:51:00,006 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 11:52:03,306 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 11:52:44,806 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 11:52:55,641 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 11:52:55,641 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 11:52:55,641 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 11:52:55,642 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 11:53:37,805 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 11:54:37,698 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 11:55:14,143 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 11:55:23,342 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 11:55:23,343 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 11:55:23,343 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 11:55:23,343 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 11:56:02,488 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 11:57:03,615 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 11:57:39,771 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 11:57:50,587 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 11:57:50,587 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 11:57:50,587 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 11:57:50,588 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 11:58:31,207 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 11:59:34,098 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 12:00:10,599 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 12:00:22,012 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 12:00:22,012 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 12:00:22,012 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 12:00:22,012 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 12:01:02,169 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 12:02:03,126 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 12:02:39,785 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 12:02:49,032 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 12:02:49,032 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 12:02:49,032 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 12:02:49,032 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 12:03:30,555 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 12:04:31,241 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 12:05:07,682 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 12:05:17,525 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 12:05:17,525 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 12:05:17,525 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 12:05:17,525 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 12:05:58,064 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 12:07:00,604 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 12:07:41,570 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 12:07:52,663 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 12:07:52,664 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 12:07:52,664 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 12:07:52,664 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 12:08:32,208 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 12:09:34,633 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 12:10:11,367 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 12:10:23,466 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 12:10:23,466 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 12:10:23,466 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 12:10:23,467 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 12:11:03,629 [WARNING] Warning!!! Insufficient points sampled. Mesh may not be watertight → falling back to voxelization +2025-09-10 12:11:03,681 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 12:12:03,219 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 12:12:37,157 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 12:12:43,633 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 12:12:43,633 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 12:12:43,634 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 12:12:43,634 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 12:13:22,931 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 12:14:26,033 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 12:15:05,156 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 12:15:16,250 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 12:15:16,251 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 12:15:16,251 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 12:15:16,252 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 12:15:56,125 [WARNING] Warning!!! Insufficient points sampled. Mesh may not be watertight → falling back to voxelization +2025-09-10 12:15:56,159 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 12:16:53,358 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 12:17:23,422 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 12:17:28,663 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 12:17:28,663 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 12:17:28,663 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 12:17:28,664 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 12:18:08,188 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 12:19:09,532 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 12:19:48,428 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 12:19:59,756 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 12:19:59,756 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 12:19:59,756 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 12:19:59,757 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 12:20:38,058 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 12:21:38,597 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 12:22:17,427 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 12:22:27,848 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 12:22:27,848 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 12:22:27,848 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 12:22:27,848 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 12:23:15,995 [WARNING] Warning!!! Insufficient points sampled. Mesh may not be watertight → falling back to voxelization +2025-09-10 12:23:16,066 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 12:24:14,781 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 12:24:46,664 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 12:24:52,205 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 12:24:52,205 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 12:24:52,205 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 12:24:52,205 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 12:25:30,816 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 12:26:33,908 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 12:27:13,754 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 12:27:24,975 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 12:27:24,976 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 12:27:24,976 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 12:27:24,976 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 12:28:05,001 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 12:29:05,420 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 12:29:41,447 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 12:29:50,492 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 12:29:50,492 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 12:29:50,492 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 12:29:50,493 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 12:30:30,747 [WARNING] Warning!!! Insufficient points sampled. Mesh may not be watertight → falling back to voxelization +2025-09-10 12:30:30,788 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 12:31:39,361 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 12:32:11,696 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 12:32:17,554 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 12:32:17,554 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 12:32:17,554 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 12:32:17,555 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 12:32:58,409 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 12:34:09,094 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 12:34:46,388 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 12:34:56,199 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 12:34:56,200 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 12:34:56,200 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 12:34:56,200 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 12:35:34,485 [WARNING] Warning!!! Insufficient points sampled. Mesh may not be watertight → falling back to voxelization +2025-09-10 12:35:34,532 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 12:36:42,567 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 12:37:16,710 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 12:37:23,244 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 12:37:23,244 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 12:37:23,244 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 12:37:23,245 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 12:38:01,503 [WARNING] Warning!!! Insufficient points sampled. Mesh may not be watertight → falling back to voxelization +2025-09-10 12:38:01,547 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 12:39:01,775 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 12:39:33,130 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 12:39:38,821 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 12:39:38,821 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 12:39:38,822 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 12:39:38,822 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 12:40:17,505 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 12:41:20,929 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 12:41:59,964 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 12:42:11,663 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 12:42:11,663 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 12:42:11,663 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 12:42:11,663 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 12:42:50,070 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 12:43:53,877 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 12:44:32,809 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 12:44:44,112 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 12:44:44,112 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 12:44:44,112 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 12:44:44,113 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 12:45:25,436 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 12:46:26,995 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 12:47:03,638 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 12:47:12,607 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 12:47:12,607 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 12:47:12,607 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 12:47:12,607 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 12:47:53,854 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 12:48:54,535 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 12:49:34,276 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 12:49:45,743 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 12:49:45,743 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 12:49:45,743 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 12:49:45,744 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 12:50:25,808 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 12:51:28,274 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 12:52:05,456 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 12:52:16,968 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 12:52:16,968 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 12:52:16,968 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 12:52:16,969 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 12:52:55,002 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 12:53:59,914 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 12:54:38,508 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 12:54:50,219 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 12:54:50,219 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 12:54:50,219 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 12:54:50,219 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 12:55:30,387 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 12:56:33,740 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 12:57:12,492 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 12:57:24,146 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 12:57:24,146 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 12:57:24,147 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 12:57:24,147 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 12:58:03,238 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 12:59:08,327 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 12:59:45,798 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 12:59:57,416 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 12:59:57,416 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 12:59:57,416 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 12:59:57,416 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 13:00:36,511 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 13:01:39,581 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 13:02:18,020 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 13:02:28,794 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 13:02:28,794 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 13:02:28,795 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 13:02:28,795 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 13:03:08,120 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 13:04:11,703 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 13:04:47,620 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 13:04:59,279 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 13:04:59,279 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 13:04:59,279 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 13:04:59,280 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 13:05:37,544 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 13:06:40,509 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 13:07:17,163 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 13:07:29,174 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 13:07:29,174 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 13:07:29,174 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 13:07:29,174 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 13:08:07,354 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 13:09:10,045 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 13:09:50,506 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 13:10:02,421 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 13:10:02,421 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 13:10:02,421 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 13:10:02,421 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 13:10:40,331 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 13:11:42,997 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 13:12:23,012 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 13:12:34,919 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 13:12:34,919 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 13:12:34,920 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 13:12:34,920 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 13:13:14,367 [WARNING] Warning!!! Insufficient points sampled. Mesh may not be watertight → falling back to voxelization +2025-09-10 13:13:14,399 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 13:14:13,875 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 13:14:44,112 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 13:14:48,958 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 13:14:48,958 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 13:14:48,958 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 13:14:48,959 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 13:15:29,315 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 13:16:31,905 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 13:17:09,639 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 13:17:21,493 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 13:17:21,494 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 13:17:21,494 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 13:17:21,494 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 13:18:01,089 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 13:19:05,401 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 13:19:45,223 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 13:19:55,468 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 13:19:55,469 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 13:19:55,469 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 13:19:55,469 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 13:20:33,129 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 13:21:37,182 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 13:22:14,091 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 13:22:25,641 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 13:22:25,641 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 13:22:25,641 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 13:22:25,641 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 13:23:06,132 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 13:24:08,134 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 13:24:46,596 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 13:24:58,698 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 13:24:58,698 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 13:24:58,698 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 13:24:58,698 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 13:25:35,453 [WARNING] Warning!!! Insufficient points sampled. Mesh may not be watertight → falling back to voxelization +2025-09-10 13:25:35,491 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 13:26:32,794 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 13:27:04,680 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 13:27:10,255 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 13:27:10,255 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 13:27:10,256 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 13:27:10,256 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 13:27:49,134 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 13:28:47,130 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 13:29:22,763 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 13:29:32,093 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 13:29:32,093 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 13:29:32,093 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 13:29:32,094 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 13:30:13,129 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 13:31:14,476 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 13:31:46,735 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 13:31:58,733 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 13:31:58,733 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 13:31:58,733 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 13:31:58,733 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 13:33:04,514 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 13:34:09,181 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 13:34:50,560 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 13:35:01,559 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 13:35:01,559 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 13:35:01,559 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 13:35:01,559 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 13:35:41,040 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 13:36:44,983 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 13:37:18,715 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 13:37:30,315 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 13:37:30,315 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 13:37:30,316 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 13:37:30,316 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 13:38:12,452 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 13:39:14,706 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 13:39:50,644 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 13:39:59,330 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 13:39:59,330 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 13:39:59,330 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 13:39:59,331 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 13:40:38,835 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 13:41:41,996 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 13:42:20,569 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 13:42:32,450 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 13:42:32,450 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 13:42:32,450 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 13:42:32,451 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 13:43:11,992 [WARNING] Warning!!! Insufficient points sampled. Mesh may not be watertight → falling back to voxelization +2025-09-10 13:43:12,028 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 13:44:10,564 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 13:44:42,333 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 13:44:47,892 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 13:44:47,892 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 13:44:47,892 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 13:44:47,893 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 13:45:24,601 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 13:46:26,082 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 13:46:57,615 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 13:47:08,903 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 13:47:08,903 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 13:47:08,903 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 13:47:08,904 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 13:47:45,024 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 13:48:45,114 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 13:49:16,148 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 13:49:26,652 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 13:49:26,652 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 13:49:26,652 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 13:49:26,653 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 13:50:03,346 [WARNING] Warning!!! Insufficient points sampled. Mesh may not be watertight → falling back to voxelization +2025-09-10 13:50:03,378 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 13:50:59,710 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 13:51:31,028 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 13:51:36,285 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 13:51:36,285 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 13:51:36,286 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 13:51:36,287 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 13:52:19,927 [WARNING] Warning!!! Insufficient points sampled. Mesh may not be watertight → falling back to voxelization +2025-09-10 13:52:19,957 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 13:53:16,369 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 13:53:45,827 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 13:53:50,783 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 13:53:50,783 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 13:53:50,783 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 13:53:50,784 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 13:54:29,720 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 13:55:30,449 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 13:56:07,035 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 13:56:17,483 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 13:56:17,483 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 13:56:17,483 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 13:56:17,484 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 13:56:54,742 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 13:57:55,899 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 13:58:35,772 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 13:58:47,031 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 13:58:47,031 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 13:58:47,031 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 13:58:47,032 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 13:59:25,487 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 14:00:24,945 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 14:01:06,234 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 14:01:17,861 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 14:01:17,861 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 14:01:17,861 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 14:01:17,863 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 14:01:55,257 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 14:02:54,350 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 14:03:29,039 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 14:03:40,602 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 14:03:40,602 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 14:03:40,602 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 14:03:40,602 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 14:04:19,194 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 14:05:17,924 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 14:05:56,023 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 14:06:07,670 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 14:06:07,670 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 14:06:07,670 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 14:06:07,671 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 14:06:44,763 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 14:07:43,903 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 14:08:21,637 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 14:08:33,781 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 14:08:33,781 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 14:08:33,781 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 14:08:33,781 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 14:09:10,008 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 14:10:07,648 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 14:10:38,686 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 14:10:49,683 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 14:10:49,683 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 14:10:49,683 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 14:10:49,683 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 14:11:26,975 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 14:12:26,853 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 14:13:06,106 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 14:13:16,944 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 14:13:16,944 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 14:13:16,944 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 14:13:16,944 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 14:13:56,509 [WARNING] Warning!!! Insufficient points sampled. Mesh may not be watertight → falling back to voxelization +2025-09-10 14:13:56,562 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 14:14:57,536 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 14:15:32,016 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 14:15:39,251 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 14:15:39,252 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 14:15:39,252 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 14:15:39,252 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 14:16:17,267 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 14:17:16,343 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 14:17:53,146 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 14:18:05,398 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 14:18:05,398 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 14:18:05,398 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 14:18:05,399 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 14:18:43,814 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 14:19:46,652 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 14:20:24,273 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 14:20:35,863 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 14:20:35,863 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 14:20:35,863 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 14:20:35,864 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 14:21:13,832 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 14:22:12,903 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 14:22:52,103 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 14:23:04,088 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 14:23:04,088 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 14:23:04,089 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 14:23:04,089 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 14:23:44,542 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 14:24:48,971 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 14:25:27,209 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 14:25:39,007 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 14:25:39,007 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 14:25:39,007 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 14:25:39,008 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 14:26:17,662 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 14:27:20,635 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 14:27:58,598 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 14:28:08,674 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 14:28:08,674 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 14:28:08,675 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 14:28:08,675 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 14:28:48,080 [WARNING] Warning!!! Insufficient points sampled. Mesh may not be watertight → falling back to voxelization +2025-09-10 14:28:48,116 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 14:29:46,527 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 14:30:18,224 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 14:30:24,093 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 14:30:24,093 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 14:30:24,093 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 14:30:24,093 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 14:31:01,805 [WARNING] Warning!!! Insufficient points sampled. Mesh may not be watertight → falling back to voxelization +2025-09-10 14:31:01,850 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 14:31:59,612 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 14:32:33,269 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 14:32:40,075 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 14:32:40,075 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 14:32:40,075 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 14:32:40,075 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 14:33:16,455 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 14:34:16,912 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 14:34:55,223 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 14:35:06,955 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 14:35:06,955 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 14:35:06,955 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 14:35:06,955 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 14:35:44,945 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 14:36:48,034 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 14:37:26,548 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 14:37:38,424 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 14:37:38,424 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 14:37:38,424 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 14:37:38,425 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 14:38:16,690 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 14:39:21,096 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 14:40:00,080 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 14:40:11,980 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 14:40:11,980 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 14:40:11,980 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 14:40:11,981 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 14:40:52,522 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 14:41:55,542 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 14:42:29,782 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 14:42:38,311 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 14:42:38,311 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 14:42:38,311 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 14:42:38,312 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 14:43:15,268 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 14:44:18,535 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 14:44:51,481 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 14:45:02,645 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 14:45:02,645 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 14:45:02,645 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 14:45:02,645 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 14:45:42,464 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 14:46:45,535 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 14:47:25,215 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 14:47:36,845 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 14:47:36,845 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 14:47:36,845 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 14:47:36,846 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 14:48:16,318 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 14:49:18,426 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 14:49:56,383 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 14:50:07,432 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 14:50:07,433 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 14:50:07,433 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 14:50:07,434 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 14:50:50,061 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 14:51:55,759 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 14:52:37,635 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 14:52:49,410 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 14:52:49,410 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 14:52:49,410 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 14:52:49,411 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 14:53:28,315 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 14:54:31,407 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 14:55:04,564 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 14:55:13,708 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 14:55:13,708 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 14:55:13,708 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 14:55:13,709 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 14:55:52,255 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 14:56:56,121 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 14:57:35,284 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 14:57:47,307 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 14:57:47,307 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 14:57:47,307 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 14:57:47,308 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 14:58:23,894 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 14:59:25,852 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 15:00:00,939 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 15:00:12,702 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 15:00:12,703 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 15:00:12,703 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 15:00:12,703 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 15:00:51,517 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 15:01:54,862 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 15:02:35,257 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 15:02:47,244 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 15:02:47,245 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 15:02:47,245 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 15:02:47,245 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 15:03:25,250 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 15:04:27,275 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 15:05:07,745 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 15:05:19,109 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 15:05:19,109 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 15:05:19,109 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 15:05:19,110 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 15:05:58,039 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 15:06:59,893 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 15:07:33,566 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 15:07:45,651 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 15:07:45,651 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 15:07:45,651 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 15:07:45,652 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 15:08:24,241 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 15:09:25,231 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 15:09:58,318 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 15:10:06,875 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 15:10:06,875 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 15:10:06,875 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 15:10:06,875 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 15:10:46,939 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 15:11:49,408 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 15:12:27,597 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 15:12:39,219 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 15:12:39,220 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 15:12:39,220 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 15:12:39,220 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 15:13:18,635 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 15:14:22,131 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 15:15:00,122 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 15:15:12,208 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 15:15:12,208 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 15:15:12,208 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 15:15:12,209 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 15:15:49,857 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 15:16:52,908 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 15:17:33,519 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 15:17:45,270 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 15:17:45,270 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 15:17:45,270 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 15:17:45,270 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 15:18:25,867 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 15:19:28,511 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 15:20:02,009 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 15:20:13,695 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 15:20:13,695 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 15:20:13,695 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 15:20:13,696 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 15:20:50,335 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 15:21:53,700 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 15:22:30,717 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 15:22:42,952 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 15:22:42,952 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 15:22:42,952 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 15:22:42,952 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 15:23:20,482 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 15:24:23,989 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 15:25:03,235 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 15:25:15,038 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 15:25:15,038 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 15:25:15,038 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 15:25:15,039 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 15:25:52,772 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 15:26:53,813 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 15:27:29,471 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 15:27:40,779 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 15:27:40,780 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 15:27:40,780 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 15:27:40,780 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 15:28:21,177 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 15:29:23,907 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 15:29:58,045 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 15:30:06,954 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 15:30:06,954 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 15:30:06,954 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 15:30:06,954 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 15:30:46,962 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 15:31:48,900 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 15:32:23,593 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 15:32:32,132 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 15:32:32,132 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 15:32:32,132 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 15:32:32,132 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 15:33:11,038 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 15:34:14,158 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 15:34:51,537 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 15:35:03,017 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 15:35:03,017 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 15:35:03,017 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 15:35:03,018 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 15:35:42,082 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 15:36:45,145 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 15:37:21,640 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 15:37:33,634 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 15:37:33,634 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 15:37:33,634 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 15:37:33,634 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 15:38:13,606 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 15:39:15,448 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 15:39:52,445 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 15:40:03,409 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 15:40:03,409 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 15:40:03,409 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 15:40:03,409 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 15:40:41,614 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 15:41:40,846 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 15:42:17,233 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 15:42:29,713 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 15:42:29,713 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 15:42:29,713 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 15:42:29,713 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 15:43:08,302 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 15:44:11,231 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 15:44:44,952 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 15:44:56,672 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 15:44:56,672 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 15:44:56,672 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 15:44:56,672 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 15:45:33,472 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 15:46:37,003 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 15:47:10,842 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 15:47:22,536 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 15:47:22,537 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 15:47:22,537 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 15:47:22,537 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 15:47:58,965 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 15:49:04,767 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 15:49:37,755 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 15:49:48,603 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 15:49:48,603 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 15:49:48,604 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 15:49:48,604 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 15:50:27,221 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 15:51:32,195 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 15:52:12,184 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 15:52:24,292 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 15:52:24,292 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 15:52:24,292 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 15:52:24,293 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 15:53:03,102 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 15:54:05,821 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 15:54:42,142 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 15:54:54,086 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 15:54:54,086 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 15:54:54,086 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 15:54:54,086 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 15:55:34,276 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 15:56:35,911 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 15:57:13,870 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 15:57:25,411 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 15:57:25,411 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 15:57:25,411 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 15:57:25,411 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 15:58:06,516 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 15:59:10,068 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 15:59:46,750 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 15:59:58,041 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 15:59:58,041 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 15:59:58,041 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 15:59:58,042 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 16:00:35,076 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 16:01:36,721 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 16:02:13,777 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 16:02:25,625 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 16:02:25,625 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 16:02:25,626 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 16:02:25,626 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 16:03:03,394 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 16:04:08,835 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 16:04:45,379 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 16:04:57,276 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 16:04:57,276 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 16:04:57,276 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 16:04:57,277 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 16:05:34,746 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 16:06:39,563 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 16:07:09,583 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 16:07:20,870 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 16:07:20,870 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 16:07:20,870 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 16:07:20,871 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 16:07:59,736 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 16:09:02,167 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 16:09:36,359 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 16:09:45,287 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 16:09:45,287 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 16:09:45,287 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 16:09:45,287 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 16:10:25,850 [WARNING] Warning!!! Insufficient points sampled. Mesh may not be watertight → falling back to voxelization +2025-09-10 16:10:25,881 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 16:11:25,566 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 16:11:56,501 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 16:12:01,828 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 16:12:01,828 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 16:12:01,828 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 16:12:01,828 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 16:12:39,731 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 16:13:43,158 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 16:14:18,762 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 16:14:30,900 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 16:14:30,900 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 16:14:30,900 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 16:14:30,901 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 16:15:09,000 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 16:16:11,868 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 16:16:46,948 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 16:16:58,647 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 16:16:58,648 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 16:16:58,648 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 16:16:58,648 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 16:17:37,032 [WARNING] Warning!!! Insufficient points sampled. Mesh may not be watertight → falling back to voxelization +2025-09-10 16:17:37,065 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 16:18:37,009 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 16:19:08,204 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 16:19:13,590 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 16:19:13,590 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 16:19:13,590 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 16:19:13,591 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 16:19:52,213 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 16:20:55,220 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 16:21:31,425 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 16:21:41,938 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 16:21:41,938 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 16:21:41,938 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 16:21:41,939 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 16:22:19,361 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 16:23:23,640 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 16:23:58,477 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 16:24:10,090 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 16:24:10,090 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 16:24:10,090 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 16:24:10,090 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 16:24:46,680 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 16:25:50,383 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 16:26:30,360 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 16:26:41,504 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 16:26:41,505 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 16:26:41,505 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 16:26:41,505 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 16:27:20,305 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 16:28:20,887 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 16:28:58,367 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 16:29:10,480 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 16:29:10,480 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 16:29:10,481 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 16:29:10,481 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 16:29:48,545 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 16:30:48,401 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 16:31:20,552 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 16:31:31,178 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 16:31:31,179 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 16:31:31,179 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 16:31:31,179 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 16:32:10,624 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 16:33:12,000 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 16:33:49,582 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 16:34:01,906 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 16:34:01,907 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 16:34:01,907 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 16:34:01,907 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 16:34:48,357 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 16:35:54,321 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 16:36:35,444 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 16:36:47,249 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 16:36:47,249 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 16:36:47,249 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 16:36:47,249 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 16:37:28,637 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 16:38:33,151 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 16:39:09,908 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 16:39:21,738 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 16:39:21,738 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 16:39:21,738 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 16:39:21,739 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 16:40:00,674 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 16:41:01,516 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 16:41:36,353 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 16:41:48,184 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 16:41:48,184 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 16:41:48,184 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 16:41:48,185 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 16:42:28,375 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 16:43:32,637 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 16:44:14,337 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 16:44:25,615 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 16:44:25,615 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 16:44:25,615 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 16:44:25,615 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 16:45:03,713 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 16:46:06,803 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 16:46:39,877 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 16:46:51,467 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 16:46:51,467 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 16:46:51,467 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 16:46:51,467 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 16:47:31,063 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 16:48:32,104 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 16:49:07,196 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 16:49:15,505 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 16:49:15,505 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 16:49:15,505 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 16:49:15,505 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 16:49:53,221 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 16:50:55,470 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 16:51:31,469 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 16:51:43,867 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 16:51:43,868 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 16:51:43,868 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 16:51:43,868 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 16:52:24,574 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 16:53:29,195 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 16:54:01,825 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 16:54:12,793 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 16:54:12,793 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 16:54:12,793 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 16:54:12,794 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 16:54:51,994 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 16:55:55,536 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 16:56:30,434 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 16:56:41,976 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 16:56:41,976 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 16:56:41,976 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 16:56:41,976 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 16:57:19,769 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 16:58:23,464 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 16:59:01,292 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 16:59:13,276 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 16:59:13,277 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 16:59:13,277 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 16:59:13,277 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 16:59:50,119 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 17:00:53,505 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 17:01:27,291 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 17:01:39,142 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 17:01:39,142 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 17:01:39,142 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 17:01:39,143 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 17:02:15,537 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 17:03:15,111 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 17:03:48,827 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 17:03:59,042 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 17:03:59,042 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 17:03:59,042 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 17:03:59,043 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 17:04:39,451 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 17:05:42,282 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 17:06:18,063 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 17:06:28,037 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 17:06:28,037 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 17:06:28,037 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 17:06:28,038 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 17:07:05,967 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 17:08:09,288 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 17:08:41,203 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 17:08:52,154 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 17:08:52,154 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 17:08:52,154 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 17:08:52,154 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 17:09:30,598 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 17:10:33,506 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 17:11:08,130 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 17:11:18,485 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 17:11:18,485 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 17:11:18,485 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 17:11:18,486 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 17:11:56,847 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 17:13:01,962 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 17:13:31,656 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 17:13:42,927 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 17:13:42,927 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 17:13:42,927 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 17:13:42,928 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 17:14:21,976 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 17:15:24,267 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 17:15:56,617 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 17:16:05,573 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 17:16:05,573 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 17:16:05,573 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 17:16:05,573 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 17:16:43,678 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 17:17:46,512 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 17:18:22,834 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 17:18:34,395 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 17:18:34,396 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 17:18:34,396 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 17:18:34,396 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 17:19:12,291 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 17:20:15,286 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 17:20:51,489 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 17:21:03,199 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 17:21:03,199 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 17:21:03,199 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 17:21:03,199 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 17:21:41,280 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 17:22:44,687 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 17:23:21,667 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 17:23:33,290 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 17:23:33,290 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 17:23:33,290 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 17:23:33,291 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 17:24:10,246 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 17:25:13,862 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 17:25:54,087 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 17:26:05,829 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 17:26:05,829 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 17:26:05,830 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 17:26:05,830 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 17:26:50,855 [WARNING] Warning!!! Insufficient points sampled. Mesh may not be watertight → falling back to voxelization +2025-09-10 17:26:50,876 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 17:27:48,211 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 17:28:16,433 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 17:28:21,202 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 17:28:21,202 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 17:28:21,202 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 17:28:21,203 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 17:29:00,676 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 17:30:04,323 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 17:30:44,786 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 17:30:56,641 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 17:30:56,641 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 17:30:56,641 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 17:30:56,642 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 17:31:33,194 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 17:32:36,263 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 17:33:16,156 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 17:33:27,471 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 17:33:27,471 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 17:33:27,471 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 17:33:27,472 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 17:34:06,376 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 17:35:07,801 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 17:35:46,509 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 17:35:58,562 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 17:35:58,562 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 17:35:58,562 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 17:35:58,563 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 17:36:41,110 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 17:37:43,501 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 17:38:24,319 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 17:38:35,830 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 17:38:35,830 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 17:38:35,830 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 17:38:35,831 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 17:39:12,036 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 17:40:14,114 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 17:40:49,620 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 17:41:01,286 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 17:41:01,286 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 17:41:01,287 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 17:41:01,288 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 17:41:43,050 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 17:42:45,688 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 17:43:27,699 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 17:43:39,514 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 17:43:39,514 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 17:43:39,514 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 17:43:39,515 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 17:44:17,620 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 17:45:18,841 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 17:45:53,471 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 17:46:03,247 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 17:46:03,247 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 17:46:03,247 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 17:46:03,248 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 17:46:41,002 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 17:47:43,815 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 17:48:16,939 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 17:48:28,798 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 17:48:28,798 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 17:48:28,798 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 17:48:28,799 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 17:49:07,783 [WARNING] Warning!!! Insufficient points sampled. Mesh may not be watertight → falling back to voxelization +2025-09-10 17:49:07,804 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 17:50:00,955 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 17:50:30,662 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 17:50:35,875 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 17:50:35,875 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 17:50:35,875 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 17:50:35,876 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 17:51:12,528 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 17:52:07,533 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 17:52:44,015 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 17:52:55,555 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 17:52:55,555 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 17:52:55,555 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 17:52:55,555 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 17:53:33,216 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 17:54:26,565 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 17:55:04,707 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 17:55:16,727 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 17:55:16,727 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 17:55:16,727 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 17:55:16,728 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 17:55:53,671 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 17:56:48,248 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 17:57:22,740 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 17:57:33,257 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 17:57:33,257 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 17:57:33,257 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 17:57:33,258 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 17:58:09,332 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 17:59:05,135 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 17:59:41,354 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 17:59:53,043 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 17:59:53,043 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 17:59:53,043 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 17:59:53,043 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 18:00:28,618 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 18:01:22,285 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 18:01:51,199 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 18:02:02,053 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 18:02:02,053 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 18:02:02,053 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 18:02:02,053 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 18:02:38,300 [WARNING] Warning!!! Insufficient points sampled. Mesh may not be watertight → falling back to voxelization +2025-09-10 18:02:38,320 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 18:03:28,842 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 18:03:58,058 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 18:04:03,292 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 18:04:03,292 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 18:04:03,292 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 18:04:03,293 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 18:04:39,808 [WARNING] Warning!!! Insufficient points sampled. Mesh may not be watertight → falling back to voxelization +2025-09-10 18:04:39,825 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 18:05:34,984 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 18:06:03,127 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 18:06:07,739 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 18:06:07,740 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 18:06:07,740 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 18:06:07,740 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 18:06:44,398 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 18:07:39,591 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 18:08:17,315 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 18:08:28,722 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 18:08:28,722 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 18:08:28,722 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 18:08:28,723 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 18:09:05,656 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 18:10:01,448 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 18:10:35,592 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 18:10:47,378 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 18:10:47,378 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 18:10:47,378 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 18:10:47,379 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 18:11:24,480 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 18:12:20,562 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 18:12:50,939 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 18:13:02,072 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 18:13:02,072 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 18:13:02,072 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 18:13:02,073 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 18:13:37,181 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 18:14:36,676 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 18:15:08,961 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 18:15:20,187 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 18:15:20,187 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 18:15:20,187 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 18:15:20,187 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 18:15:55,417 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 18:16:50,877 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 18:17:19,582 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 18:17:30,899 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 18:17:30,899 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 18:17:30,899 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 18:17:30,899 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 18:18:06,411 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 18:19:02,469 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 18:19:31,359 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 18:19:41,580 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 18:19:41,580 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 18:19:41,580 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 18:19:41,581 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 18:20:18,804 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 18:21:14,610 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 18:21:49,956 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 18:22:01,432 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 18:22:01,433 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 18:22:01,433 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 18:22:01,433 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 18:22:39,934 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 18:23:38,671 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 18:24:18,808 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 18:24:30,712 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 18:24:30,713 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 18:24:30,713 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 18:24:30,713 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 18:25:07,482 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 18:26:04,820 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 18:26:43,291 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 18:26:54,761 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 18:26:54,762 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 18:26:54,762 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 18:26:54,762 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 18:27:32,333 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 18:28:40,158 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 18:29:16,133 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 18:29:28,069 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 18:29:28,070 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 18:29:28,070 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 18:29:28,070 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 18:30:04,945 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 18:31:11,546 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 18:31:50,839 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 18:32:02,587 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 18:32:02,587 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 18:32:02,588 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 18:32:02,588 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 18:32:40,943 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 18:33:44,959 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 18:34:18,222 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 18:34:29,216 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 18:34:29,216 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 18:34:29,216 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 18:34:29,217 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 18:35:06,411 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 18:36:02,881 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 18:36:31,133 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 18:36:42,272 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 18:36:42,272 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 18:36:42,272 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 18:36:42,272 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 18:37:18,039 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 18:38:12,388 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 18:38:46,953 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 18:38:59,182 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 18:38:59,183 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 18:38:59,183 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 18:38:59,183 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 18:39:41,172 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 18:40:38,738 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 18:41:16,941 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 18:41:29,410 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 18:41:29,410 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 18:41:29,411 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 18:41:29,411 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 18:42:06,220 [WARNING] Warning!!! Insufficient points sampled. Mesh may not be watertight → falling back to voxelization +2025-09-10 18:42:06,235 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 18:42:58,616 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 18:43:26,750 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 18:43:31,679 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 18:43:31,680 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 18:43:31,680 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 18:43:31,680 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 18:44:28,792 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 18:45:26,814 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 18:46:05,387 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 18:46:17,231 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 18:46:17,232 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 18:46:17,232 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 18:46:17,232 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 18:46:54,781 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 18:47:51,493 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 18:48:25,736 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 18:48:36,423 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 18:48:36,423 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 18:48:36,423 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 18:48:36,424 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 18:49:11,838 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 18:50:09,078 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 18:50:48,650 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 18:51:00,155 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 18:51:00,155 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 18:51:00,156 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 18:51:00,156 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 18:51:36,368 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 18:52:33,371 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 18:53:09,911 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 18:53:22,033 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 18:53:22,033 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 18:53:22,033 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 18:53:22,034 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 18:53:59,543 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 18:54:58,467 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 18:55:35,907 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 18:55:47,465 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 18:55:47,465 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 18:55:47,465 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 18:55:47,465 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 18:56:22,843 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 18:57:18,887 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 18:57:51,323 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 18:58:02,684 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 18:58:02,684 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 18:58:02,684 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 18:58:02,685 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 18:58:39,464 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 18:59:35,771 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 19:00:07,806 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 19:00:19,019 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 19:00:19,019 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 19:00:19,019 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 19:00:19,020 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 19:00:54,939 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 19:01:48,793 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 19:02:22,089 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 19:02:32,847 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 19:02:32,848 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 19:02:32,848 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 19:02:32,848 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 19:03:10,324 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 19:04:08,946 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 19:04:41,003 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 19:04:51,799 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 19:04:51,800 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 19:04:51,800 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 19:04:51,800 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 19:05:29,040 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 19:06:25,312 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 19:06:57,133 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 19:07:08,520 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 19:07:08,520 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 19:07:08,520 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 19:07:08,521 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 19:07:44,558 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 19:08:39,472 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 19:09:09,872 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 19:09:20,552 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 19:09:20,552 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 19:09:20,552 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 19:09:20,553 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 19:09:56,752 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 19:10:50,425 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 19:11:23,475 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 19:11:32,638 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 19:11:32,638 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 19:11:32,639 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 19:11:32,639 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 19:12:07,677 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 19:13:02,948 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 19:13:41,246 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 19:13:52,977 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 19:13:52,977 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 19:13:52,977 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 19:13:52,978 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 19:14:31,918 [WARNING] Warning!!! Insufficient points sampled. Mesh may not be watertight → falling back to voxelization +2025-09-10 19:14:31,936 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 19:15:26,697 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 19:15:56,067 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 19:16:01,053 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 19:16:01,053 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 19:16:01,053 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 19:16:01,053 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 19:16:36,497 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 19:17:33,664 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 19:18:13,118 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 19:18:24,333 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 19:18:24,334 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 19:18:24,334 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 19:18:24,334 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 19:19:00,863 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 19:19:56,728 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 19:20:27,625 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 19:20:36,797 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 19:20:36,798 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 19:20:36,798 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 19:20:36,798 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 19:21:14,949 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 19:22:10,809 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 19:22:43,717 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 19:22:53,128 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 19:22:53,128 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 19:22:53,128 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 19:22:53,128 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 19:23:27,800 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 19:24:24,214 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 19:24:53,567 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 19:25:04,486 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 19:25:04,486 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 19:25:04,486 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 19:25:04,487 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 19:25:43,013 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 19:26:39,482 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 19:27:15,693 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 19:27:26,608 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 19:27:26,608 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 19:27:26,608 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 19:27:26,608 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 19:28:02,935 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 19:28:59,863 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 19:29:35,442 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 19:29:47,275 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 19:29:47,275 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 19:29:47,275 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 19:29:47,276 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 19:30:31,039 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 19:31:29,481 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 19:32:09,953 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 19:32:21,816 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 19:32:21,816 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 19:32:21,816 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 19:32:21,817 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 19:32:59,636 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 19:33:57,668 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 19:34:36,678 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 19:34:48,521 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 19:34:48,521 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 19:34:48,521 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 19:34:48,522 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 19:35:24,191 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 19:36:21,572 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 19:36:56,898 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 19:37:08,389 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 19:37:08,389 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 19:37:08,390 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 19:37:08,391 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 19:37:46,253 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 19:38:43,485 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 19:39:15,837 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 19:39:26,557 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 19:39:26,558 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 19:39:26,558 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 19:39:26,558 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 19:40:03,674 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 19:40:59,145 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 19:41:32,349 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 19:41:43,333 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 19:41:43,334 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 19:41:43,334 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 19:41:43,334 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 19:42:20,198 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 19:43:14,668 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 19:43:47,135 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 19:43:54,809 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 19:43:54,809 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 19:43:54,810 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 19:43:54,810 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 19:44:30,757 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 19:45:25,979 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 19:46:00,952 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 19:46:12,720 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 19:46:12,720 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 19:46:12,720 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 19:46:12,721 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 19:46:49,237 [WARNING] Warning!!! Insufficient points sampled. Mesh may not be watertight → falling back to voxelization +2025-09-10 19:46:49,251 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 19:47:40,182 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 19:48:07,930 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 19:48:12,976 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 19:48:12,976 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 19:48:12,977 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 19:48:12,977 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 19:48:48,747 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 19:49:47,918 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 19:50:26,485 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 19:50:37,822 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 19:50:37,822 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 19:50:37,822 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 19:50:37,823 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 19:51:13,417 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 19:52:11,289 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 19:52:45,669 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 19:52:57,128 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 19:52:57,129 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 19:52:57,129 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 19:52:57,129 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 19:53:33,638 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 19:54:30,263 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 19:55:02,215 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 19:55:13,947 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 19:55:13,947 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 19:55:13,947 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 19:55:13,948 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 19:55:49,779 [WARNING] Warning!!! Insufficient points sampled. Mesh may not be watertight → falling back to voxelization +2025-09-10 19:55:49,789 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 19:56:43,249 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 19:57:10,854 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 19:57:15,496 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 19:57:15,497 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 19:57:15,497 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 19:57:15,497 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 19:57:50,886 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 19:58:49,113 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 19:59:19,489 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 19:59:30,794 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 19:59:30,794 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 19:59:30,794 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 19:59:30,795 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 20:00:07,405 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 20:01:04,500 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 20:01:42,854 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 20:01:54,754 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 20:01:54,755 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 20:01:54,755 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 20:01:54,755 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 20:02:35,094 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 20:03:32,416 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 20:04:05,392 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 20:04:14,731 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 20:04:14,731 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 20:04:14,732 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 20:04:14,732 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 20:04:55,049 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 20:05:50,926 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 20:06:23,495 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 20:06:33,105 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 20:06:33,105 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 20:06:33,105 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 20:06:33,105 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 20:07:09,328 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 20:08:07,373 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 20:08:43,852 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 20:08:56,198 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 20:08:56,198 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 20:08:56,198 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 20:08:56,198 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 20:09:31,183 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 20:10:25,733 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 20:11:04,797 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 20:11:16,968 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 20:11:16,968 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 20:11:16,968 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 20:11:16,968 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 20:11:53,812 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 20:12:48,167 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 20:13:22,877 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 20:13:34,093 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 20:13:34,093 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 20:13:34,093 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 20:13:34,093 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 20:14:10,075 [WARNING] Warning!!! Insufficient points sampled. Mesh may not be watertight → falling back to voxelization +2025-09-10 20:14:10,086 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 20:15:01,124 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 20:15:29,140 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 20:15:34,001 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 20:15:34,002 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 20:15:34,002 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 20:15:34,002 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 20:16:09,997 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 20:17:05,277 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 20:17:42,695 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 20:17:54,453 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 20:17:54,453 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 20:17:54,453 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 20:17:54,454 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 20:18:31,135 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 20:19:24,700 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 20:19:57,444 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 20:20:05,612 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 20:20:05,612 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 20:20:05,612 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 20:20:05,612 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 20:20:43,973 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 20:21:37,816 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 20:22:12,121 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 20:22:23,054 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 20:22:23,054 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 20:22:23,054 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 20:22:23,054 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 20:23:02,600 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 20:23:57,372 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 20:24:30,811 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 20:24:42,870 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 20:24:42,870 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 20:24:42,870 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 20:24:42,870 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 20:25:20,511 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 20:26:15,707 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 20:26:52,127 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 20:27:04,019 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 20:27:04,019 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 20:27:04,019 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 20:27:04,019 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 20:27:41,034 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 20:28:38,103 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 20:29:15,399 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 20:29:27,785 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 20:29:27,785 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 20:29:27,785 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 20:29:27,786 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 20:30:07,543 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 20:31:02,988 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 20:31:37,417 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 20:31:49,349 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 20:31:49,349 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 20:31:49,349 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 20:31:49,350 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 20:32:26,779 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 20:33:24,861 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 20:33:59,419 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 20:34:10,016 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 20:34:10,016 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 20:34:10,016 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 20:34:10,016 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 20:34:46,459 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 20:35:39,463 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 20:36:11,928 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 20:36:19,985 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 20:36:19,985 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 20:36:19,985 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 20:36:19,986 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 20:36:55,457 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 20:37:50,098 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 20:38:20,903 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 20:38:31,703 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 20:38:31,704 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 20:38:31,704 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 20:38:31,704 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 20:39:09,404 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 20:40:03,966 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 20:40:37,115 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 20:40:48,892 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 20:40:48,892 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 20:40:48,892 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 20:40:48,892 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 20:41:28,137 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 20:42:26,042 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 20:43:04,793 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 20:43:16,702 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 20:43:16,702 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 20:43:16,703 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 20:43:16,703 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 20:43:54,367 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 20:44:52,287 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 20:45:28,768 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 20:45:40,828 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 20:45:40,828 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 20:45:40,829 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 20:45:40,829 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 20:46:16,982 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 20:47:14,969 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 20:47:50,347 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 20:48:02,277 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 20:48:02,277 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 20:48:02,277 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 20:48:02,277 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 20:48:41,289 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 20:49:37,290 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 20:50:09,856 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 20:50:19,622 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 20:50:19,622 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 20:50:19,622 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 20:50:19,622 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 20:50:58,421 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 20:51:55,783 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 20:52:33,192 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 20:52:44,758 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 20:52:44,758 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 20:52:44,758 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 20:52:44,759 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 20:53:23,728 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 20:54:20,136 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 20:54:54,801 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0 +2025-09-10 20:55:06,337 [INFO] Calculate Gradients for: SoftZoo_Sim +2025-09-10 20:55:06,337 [INFO] SoftZoo_Sim: Start calculating gradients for SoftZoo... +2025-09-10 20:55:06,338 [INFO] SoftZoo_Sim: Start calculate x_0 from x_t +2025-09-10 20:55:06,338 [INFO] SoftZoo_Sim: Start sampling dense gripper with SAP for batch_idx 0 +2025-09-10 20:55:46,105 [INFO] SoftZoo_Sim: Start forwarding simulation for batch_idx 0 +2025-09-10 20:56:41,345 [INFO] SoftZoo_Sim: Start backwarding simulation for batch_idx 0 +2025-09-10 20:57:14,230 [INFO] SoftZoo_Sim: Start backpropagating gradients for batch_idx 0