diff --git a/.gitattributes b/.gitattributes
index bed0738c7eeb449bca98b5d2f33c89a1ee56349a..1915299b913eb58f5a5cf637b7f40effa358d0a6 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -58,3 +58,7 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 # Video files - compressed
 *.mp4 filter=lfs diff=lfs merge=lfs -text
 *.webm filter=lfs diff=lfs merge=lfs -text
+example_datasets/raw/maniptrans/HO-Tracker/data/test_sample/h1o1/031b7@0/right_urdf/scan.ply filter=lfs diff=lfs merge=lfs -text
+example_datasets/raw/maniptrans/HO-Tracker/data/test_sample/h1o1/81a95@5/left_urdf/scan.ply filter=lfs diff=lfs merge=lfs -text
+example_datasets/raw/maniptrans/HO-Tracker/data/train_sample/h1o1/0f4a7@1/left_urdf/scan.ply filter=lfs diff=lfs merge=lfs -text
+example_datasets/raw/maniptrans/HO-Tracker/data/train_sample/h1o1/235ac@0/right_urdf/scan.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/example_datasets/raw/maniptrans/HO-Tracker/data/test_sample/h1o1/01857@10/right_hand.pkl b/example_datasets/raw/maniptrans/HO-Tracker/data/test_sample/h1o1/01857@10/right_hand.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..b50c56bf2fc16bb30f7d28ead704727944f1f31d
--- /dev/null
+++ b/example_datasets/raw/maniptrans/HO-Tracker/data/test_sample/h1o1/01857@10/right_hand.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f8e17c29f0a1bda02ca16c4f257976ebf56f53ece48af2c278ac822714f9672b
+size 220929
diff --git a/example_datasets/raw/maniptrans/HO-Tracker/data/test_sample/h1o1/01857@10/right_obj.pkl b/example_datasets/raw/maniptrans/HO-Tracker/data/test_sample/h1o1/01857@10/right_obj.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..79eb1ff81bbe4b0f4365de0ee7bd654ebacc707c
--- /dev/null
+++ b/example_datasets/raw/maniptrans/HO-Tracker/data/test_sample/h1o1/01857@10/right_obj.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3ea83d8542739a66a392062e55ad01ea82a8cef4ce1f7cd93bceea376cf8616f
+size 27823
diff --git a/example_datasets/raw/maniptrans/HO-Tracker/data/test_sample/h1o1/01857@10/right_urdf/scan.ply b/example_datasets/raw/maniptrans/HO-Tracker/data/test_sample/h1o1/01857@10/right_urdf/scan.ply
new file mode 100644
index 0000000000000000000000000000000000000000..f085beecb9cf069950e78ed558bf963bf2d969aa
Binary files /dev/null and b/example_datasets/raw/maniptrans/HO-Tracker/data/test_sample/h1o1/01857@10/right_urdf/scan.ply differ
diff --git a/example_datasets/raw/maniptrans/HO-Tracker/data/test_sample/h1o1/01857@10/right_urdf/scan.urdf b/example_datasets/raw/maniptrans/HO-Tracker/data/test_sample/h1o1/01857@10/right_urdf/scan.urdf
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index 0000000000000000000000000000000000000000..732e103ee7bbb8fe8e0c156fee5429c70a8b39fa
--- /dev/null
+++ b/example_datasets/raw/maniptrans/HO-Tracker/data/test_sample/h1o1/01857@10/right_urdf/scan.urdf
@@ -0,0 +1,23 @@
+
+<?xml version="1.0"?>
+<robot name="scan">
+  <material name="obj_color">
+      <color rgba="1.0 0.423529411765 0.0392156862745 1.0"/>
+  </material>
+  <link name="base">
+    <visual>
+      <origin xyz="0.0 0.0 0.0"/>
+      <geometry>
+        <mesh filename="scan.ply" scale="1 1 1"/>
+      </geometry>
+      <material name="obj_color"/>
+    </visual>
+    <collision>
+      <origin xyz="0.0 0.0 0.0"/>
+      <geometry>
+        <mesh filename="scan.ply" scale="1 1 1"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
+
diff --git a/example_datasets/raw/maniptrans/HO-Tracker/data/test_sample/h1o1/031b7@0/right_hand.pkl b/example_datasets/raw/maniptrans/HO-Tracker/data/test_sample/h1o1/031b7@0/right_hand.pkl
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--- /dev/null
+++ b/example_datasets/raw/maniptrans/HO-Tracker/data/test_sample/h1o1/031b7@0/right_hand.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:941fdfec5e0dc5e0d884cb383ce7b91bc73cfcb57e5ff9d147d3de1bbc260840
+size 225498
diff --git a/example_datasets/raw/maniptrans/HO-Tracker/data/test_sample/h1o1/031b7@0/right_obj.pkl b/example_datasets/raw/maniptrans/HO-Tracker/data/test_sample/h1o1/031b7@0/right_obj.pkl
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--- /dev/null
+++ b/example_datasets/raw/maniptrans/HO-Tracker/data/test_sample/h1o1/031b7@0/right_obj.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ed41c54f17ed4e77f71db9003185d80b36279c7058150dbd7975b0756ecb9462
+size 28399
diff --git a/example_datasets/raw/maniptrans/HO-Tracker/data/test_sample/h1o1/031b7@0/right_urdf/scan.ply b/example_datasets/raw/maniptrans/HO-Tracker/data/test_sample/h1o1/031b7@0/right_urdf/scan.ply
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+++ b/example_datasets/raw/maniptrans/HO-Tracker/data/test_sample/h1o1/031b7@0/right_urdf/scan.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ee88efabdb45528166b428c65931fcf9d96512b362a201288abfe3cd0443c466
+size 338730
diff --git a/example_datasets/raw/maniptrans/HO-Tracker/data/test_sample/h1o1/031b7@0/right_urdf/scan.urdf b/example_datasets/raw/maniptrans/HO-Tracker/data/test_sample/h1o1/031b7@0/right_urdf/scan.urdf
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index 0000000000000000000000000000000000000000..732e103ee7bbb8fe8e0c156fee5429c70a8b39fa
--- /dev/null
+++ b/example_datasets/raw/maniptrans/HO-Tracker/data/test_sample/h1o1/031b7@0/right_urdf/scan.urdf
@@ -0,0 +1,23 @@
+
+<?xml version="1.0"?>
+<robot name="scan">
+  <material name="obj_color">
+      <color rgba="1.0 0.423529411765 0.0392156862745 1.0"/>
+  </material>
+  <link name="base">
+    <visual>
+      <origin xyz="0.0 0.0 0.0"/>
+      <geometry>
+        <mesh filename="scan.ply" scale="1 1 1"/>
+      </geometry>
+      <material name="obj_color"/>
+    </visual>
+    <collision>
+      <origin xyz="0.0 0.0 0.0"/>
+      <geometry>
+        <mesh filename="scan.ply" scale="1 1 1"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
+
diff --git a/example_datasets/raw/maniptrans/HO-Tracker/data/test_sample/h1o1/07301@0/right_hand.pkl b/example_datasets/raw/maniptrans/HO-Tracker/data/test_sample/h1o1/07301@0/right_hand.pkl
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--- /dev/null
+++ b/example_datasets/raw/maniptrans/HO-Tracker/data/test_sample/h1o1/07301@0/right_hand.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3e010c6943d41e8cc21ea942151e4f2f2f455fe2eba20ea136a7b42f4f58eee0
+size 190953
diff --git a/example_datasets/raw/maniptrans/HO-Tracker/data/test_sample/h1o1/07301@0/right_obj.pkl b/example_datasets/raw/maniptrans/HO-Tracker/data/test_sample/h1o1/07301@0/right_obj.pkl
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index 0000000000000000000000000000000000000000..f2e860c8d5fba25668e1aa742e92551b965409ff
--- /dev/null
+++ b/example_datasets/raw/maniptrans/HO-Tracker/data/test_sample/h1o1/07301@0/right_obj.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4855f2f92c153f4004b39b4d6bbda1a7505b8be65917648775bc8c3fc778936e
+size 24047
diff --git a/example_datasets/raw/maniptrans/HO-Tracker/data/test_sample/h1o1/07301@0/right_urdf/scan.jpg b/example_datasets/raw/maniptrans/HO-Tracker/data/test_sample/h1o1/07301@0/right_urdf/scan.jpg
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--- /dev/null
+++ b/example_datasets/raw/maniptrans/HO-Tracker/data/test_sample/h1o1/07301@0/right_urdf/scan.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9c1519b3fbd09e31380878ae027807db95bf1008fd5115d6c4790ce5e07697b0
+size 638687
diff --git a/example_datasets/raw/maniptrans/HO-Tracker/data/test_sample/h1o1/07301@0/right_urdf/scan.obj b/example_datasets/raw/maniptrans/HO-Tracker/data/test_sample/h1o1/07301@0/right_urdf/scan.obj
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index 0000000000000000000000000000000000000000..41f178a5ff7672c3cec68fe498f72e162811025b
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+++ b/example_datasets/raw/maniptrans/HO-Tracker/data/test_sample/h1o1/07301@0/right_urdf/scan.obj
@@ -0,0 +1,27082 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
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diff --git a/example_datasets/raw/maniptrans/HO-Tracker/data/test_sample/h1o1/07301@0/right_urdf/scan.obj.mtl b/example_datasets/raw/maniptrans/HO-Tracker/data/test_sample/h1o1/07301@0/right_urdf/scan.obj.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f8e3f62d63f023a04c8439e6749df989a910f8d9
--- /dev/null
+++ b/example_datasets/raw/maniptrans/HO-Tracker/data/test_sample/h1o1/07301@0/right_urdf/scan.obj.mtl
@@ -0,0 +1,14 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 1.000000 1.000000 1.000000
+Ks 1.000000 1.000000 1.000000
+Tr 1.000000
+illum 2
+Ns 0.000000
+map_Kd scan.jpg
+
diff --git a/example_datasets/raw/maniptrans/HO-Tracker/data/test_sample/h1o1/07301@0/right_urdf/scan.urdf b/example_datasets/raw/maniptrans/HO-Tracker/data/test_sample/h1o1/07301@0/right_urdf/scan.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..89616067142f82f255638c853bcc78482f1544cb
--- /dev/null
+++ b/example_datasets/raw/maniptrans/HO-Tracker/data/test_sample/h1o1/07301@0/right_urdf/scan.urdf
@@ -0,0 +1,23 @@
+
+<?xml version="1.0"?>
+<robot name="scan">
+  <material name="obj_color">
+      <color rgba="1.0 0.423529411765 0.0392156862745 1.0"/>
+  </material>
+  <link name="base">
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+      <origin xyz="0.0 0.0 0.0"/>
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+        <mesh filename="scan.obj" scale="1 1 1"/>
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+      <material name="obj_color"/>
+    </visual>
+    <collision>
+      <origin xyz="0.0 0.0 0.0"/>
+      <geometry>
+        <mesh filename="scan.obj" scale="1 1 1"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
+
diff --git a/example_datasets/raw/maniptrans/HO-Tracker/data/test_sample/h1o1/0f900@0/left_hand.pkl b/example_datasets/raw/maniptrans/HO-Tracker/data/test_sample/h1o1/0f900@0/left_hand.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..21dcd4309e0f080d087f90e03f9b78a4aa591b9b
--- /dev/null
+++ b/example_datasets/raw/maniptrans/HO-Tracker/data/test_sample/h1o1/0f900@0/left_hand.pkl
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+version https://git-lfs.github.com/spec/v1
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diff --git a/example_datasets/raw/maniptrans/HO-Tracker/data/test_sample/h1o1/0f900@0/left_obj.pkl b/example_datasets/raw/maniptrans/HO-Tracker/data/test_sample/h1o1/0f900@0/left_obj.pkl
new file mode 100644
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--- /dev/null
+++ b/example_datasets/raw/maniptrans/HO-Tracker/data/test_sample/h1o1/0f900@0/left_obj.pkl
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+version https://git-lfs.github.com/spec/v1
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diff --git a/example_datasets/raw/maniptrans/HO-Tracker/data/test_sample/h1o1/0f900@0/left_urdf/scan.ply b/example_datasets/raw/maniptrans/HO-Tracker/data/test_sample/h1o1/0f900@0/left_urdf/scan.ply
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diff --git a/example_datasets/raw/maniptrans/HO-Tracker/data/test_sample/h1o1/0f900@0/left_urdf/scan.urdf b/example_datasets/raw/maniptrans/HO-Tracker/data/test_sample/h1o1/0f900@0/left_urdf/scan.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..732e103ee7bbb8fe8e0c156fee5429c70a8b39fa
--- /dev/null
+++ b/example_datasets/raw/maniptrans/HO-Tracker/data/test_sample/h1o1/0f900@0/left_urdf/scan.urdf
@@ -0,0 +1,23 @@
+
+<?xml version="1.0"?>
+<robot name="scan">
+  <material name="obj_color">
+      <color rgba="1.0 0.423529411765 0.0392156862745 1.0"/>
+  </material>
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+      <geometry>
+        <mesh filename="scan.ply" scale="1 1 1"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
+
diff --git a/example_datasets/raw/maniptrans/HO-Tracker/data/test_sample/h1o1/155cb@0/right_hand.pkl b/example_datasets/raw/maniptrans/HO-Tracker/data/test_sample/h1o1/155cb@0/right_hand.pkl
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--- /dev/null
+++ b/example_datasets/raw/maniptrans/HO-Tracker/data/test_sample/h1o1/155cb@0/right_hand.pkl
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+version https://git-lfs.github.com/spec/v1
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diff --git a/example_datasets/raw/maniptrans/HO-Tracker/data/test_sample/h1o1/155cb@0/right_obj.pkl b/example_datasets/raw/maniptrans/HO-Tracker/data/test_sample/h1o1/155cb@0/right_obj.pkl
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+++ b/example_datasets/raw/maniptrans/HO-Tracker/data/test_sample/h1o1/155cb@0/right_obj.pkl
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+version https://git-lfs.github.com/spec/v1
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diff --git a/example_datasets/raw/maniptrans/HO-Tracker/data/test_sample/h1o1/155cb@0/right_urdf/scan.ply b/example_datasets/raw/maniptrans/HO-Tracker/data/test_sample/h1o1/155cb@0/right_urdf/scan.ply
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diff --git a/example_datasets/raw/maniptrans/HO-Tracker/data/test_sample/h1o1/155cb@0/right_urdf/scan.urdf b/example_datasets/raw/maniptrans/HO-Tracker/data/test_sample/h1o1/155cb@0/right_urdf/scan.urdf
new file mode 100644
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--- /dev/null
+++ b/example_datasets/raw/maniptrans/HO-Tracker/data/test_sample/h1o1/155cb@0/right_urdf/scan.urdf
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+
+<?xml version="1.0"?>
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+  <material name="obj_color">
+      <color rgba="1.0 0.423529411765 0.0392156862745 1.0"/>
+  </material>
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diff --git a/example_datasets/raw/maniptrans/rl_runs/baseline_0f900@0_inspire_lh/config.yaml b/example_datasets/raw/maniptrans/rl_runs/baseline_0f900@0_inspire_lh/config.yaml
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+task:
+  name: ${concat:ResDexHand,${..side}}
+  physics_engine: ${..physics_engine}
+  seed: ${..seed}
+  env:
+    numEnvs: ${resolve_default:8192,${...num_envs}}
+    dexhand: ${...dexhand}
+    episodeLength: 1200
+    training: ${if:${...test},False,True}
+    usePIDControl: ${...usePIDControl}
+    rolloutStateInit: ${resolve_default:False,${...rolloutStateInit}}
+    randomStateInit: ${resolve_default:True,${...randomStateInit}}
+    dataIndices: ${resolve_default:[],${...dataIndices}}
+    obsFutureLength: 1
+    rolloutLen: ${resolve_default:None,${...rolloutLen}}
+    rolloutBegin: ${resolve_default:None,${...rolloutBegin}}
+    clipObservations: 5.0
+    clipActions: 1.0
+    furniture: just_one_leg
+    frankaDofNoise: 0.25
+    targetLiftHeight: 0.05
+    distanceReward: 0.1
+    liftReward: 1.0
+    successReward: 1.0
+    aggregateMode: 3
+    tightenMethod: exp_decay
+    tightenFactor: 0.7
+    tightenSteps: 3200
+    actionScale: 1.0
+    useQuatRot: false
+    propDumpInfo:
+      q_rh: ${ndof:${....dexhand}}
+      q_lh: ${ndof:${....dexhand}}
+      dq_rh: ${ndof:${....dexhand}}
+      dq_lh: ${ndof:${....dexhand}}
+      state_rh: 13
+      state_lh: 13
+      state_manip_obj_rh: 13
+      state_manip_obj_lh: 13
+      joint_state_rh: ${eval:'${nbody:${....dexhand}}*13'}
+      joint_state_lh: ${eval:'${nbody:${....dexhand}}*13'}
+      tip_force_rh: 15
+      tip_force_lh: 15
+      reward: 1
+    actionsMovingAverage: ${...actionsMovingAverage}
+    translationScale: 1.0
+    orientationScale: 0.1
+    bimanual_mode: ${...bimanual_mode}
+    propObsDim: ${is_both_hands:${eval:'13+${ndof:${...dexhand}}*3'},${...side}}
+    obsKeys:
+    - q
+    - cos_q
+    - sin_q
+    - base_state
+    privilegedObsDim: ${is_both_hands:${eval:'${ndof:${...dexhand}}+13+5*4+3+1'},${...side}}
+    privilegedObsKeys:
+    - dq
+    - manip_obj_pos
+    - manip_obj_quat
+    - manip_obj_vel
+    - manip_obj_ang_vel
+    - tip_force
+    - manip_obj_com
+    - manip_obj_weight
+    enableCameraSensors: false
+  sim:
+    dt: 0.0166667
+    substeps: 2
+    up_axis: z
+    use_gpu_pipeline: ${eq:${...pipeline},"gpu"}
+    gravity:
+    - 0.0
+    - 0.0
+    - -9.81
+    physx:
+      num_threads: ${....num_threads}
+      solver_type: ${....solver_type}
+      use_gpu: ${contains:"cuda",${....sim_device}}
+      num_position_iterations: 8
+      num_velocity_iterations: 1
+      contact_offset: 0.005
+      rest_offset: 0.0
+      bounce_threshold_velocity: 0.2
+      max_depenetration_velocity: 1000.0
+      default_buffer_size_multiplier: 5.0
+      max_gpu_contact_pairs: 4194304
+      num_subscenes: ${....num_subscenes}
+      contact_collection: 1
+  task:
+    randomize: ${if:${...test},False,True}
+    randomization_params:
+      frequency: 32
+      sim_params:
+        gravity:
+          operation: scaling
+          schedule: linear_decay
+          schedule_steps: 1920
+          external_sample:
+            type: const_scale
+            init_value: 0
+      actor_params:
+        manip_obj:
+          color: true
+          rigid_shape_properties:
+            friction:
+              num_buckets: 250
+              operation: scaling
+              schedule: linear_decay
+              schedule_steps: 1920
+              external_sample:
+                type: const_scale
+                init_value: 3
+                upper_bound: 6.0
+                lower_bound: 1.0
+        manip_obj_rh:
+          color: true
+          rigid_shape_properties:
+            friction:
+              num_buckets: 250
+              operation: scaling
+              schedule: linear_decay
+              schedule_steps: 1920
+              external_sample:
+                type: const_scale
+                init_value: 3
+                upper_bound: 6.0
+                lower_bound: 1.0
+        manip_obj_lh:
+          color: true
+          rigid_shape_properties:
+            friction:
+              num_buckets: 250
+              operation: scaling
+              schedule: linear_decay
+              schedule_steps: 1920
+              external_sample:
+                type: const_scale
+                init_value: 3
+                upper_bound: 6.0
+                lower_bound: 1.0
+rl_train:
+  params:
+    seed: ${...seed}
+    algo:
+      name: ppo
+    model:
+      name: ${res_side:${....side},my_continuous_a2c_logstd}
+      base_model_obs_shape:
+        privileged: ${...base_privileged_dim}
+        proprioception: ${...base_proprioception_dim}
+        target: ${...base_target_dim}
+      rh_base_model_checkpoint: ${..rh_base_model_checkpoint}
+      lh_base_model_checkpoint: ${..lh_base_model_checkpoint}
+    network:
+      name: ${res_side:${....side},dict_obs_actor_critic}
+      separate: false
+      space:
+        continuous:
+          mu_activation: None
+          sigma_activation: None
+          mu_init:
+            name: glorot_normal_initializer
+            gain: 0.01
+          sigma_init:
+            name: const_initializer
+            val: -1
+          fixed_sigma: true
+      dict_feature_encoder:
+        _target_: lib.nn.features.SimpleFeatureFusion
+        extractors:
+          privileged:
+            _target_: lib.nn.features.Identity
+            input_dim: ${is_united_model:${.......bimanual_mode},${.......side},${eval:'${.....base_privileged_dim}+13+5*4+3+1'}}
+          proprioception:
+            _target_: lib.nn.features.Identity
+            input_dim: ${is_united_model:${.......bimanual_mode},${.......side},${.....base_proprioception_dim}}
+          target:
+            _target_: lib.nn.features.Identity
+            input_dim: ${is_united_model:${.......bimanual_mode},${.......side},${eval:'${.....base_target_dim}+3+3+3+4+4+3+3+${nbody:${.....dexhand}}+5+128'}}
+        hidden_depth: 3
+        hidden_dim: 512
+        output_dim: 256
+        activation: swish
+        add_input_activation: false
+        add_output_activation: false
+      mlp:
+        units:
+        - 256
+        - 512
+        - 128
+        - 64
+        activation: elu
+        d2rl: false
+        initializer:
+          name: default
+        regularizer:
+          name: None
+      base_model:
+        name: dict_obs_actor_critic
+        rh_checkpoint: ${...rh_base_model_checkpoint}
+        lh_checkpoint: ${...lh_base_model_checkpoint}
+        separate: false
+        action_size: ${eval:'6+${ndof:${...dexhand}}'}
+        space:
+          continuous:
+            mu_activation: None
+            sigma_activation: None
+            mu_init:
+              name: default
+            sigma_init:
+              name: const_initializer
+              val: 0
+            fixed_sigma: true
+        dict_feature_encoder:
+          _target_: lib.nn.features.SimpleFeatureFusion
+          extractors:
+            privileged:
+              _target_: lib.nn.features.Identity
+              input_dim: ${......base_privileged_dim}
+            proprioception:
+              _target_: lib.nn.features.Identity
+              input_dim: ${......base_proprioception_dim}
+            target:
+              _target_: lib.nn.features.Identity
+              input_dim: ${......base_target_dim}
+          hidden_depth: 3
+          hidden_dim: 512
+          output_dim: 256
+          activation: swish
+          add_input_activation: false
+          add_output_activation: false
+        mlp:
+          units:
+          - 256
+          - 512
+          - 128
+          - 64
+          activation: elu
+          d2rl: false
+          initializer:
+            name: default
+          regularizer:
+            name: None
+    load_checkpoint: ${if:${...checkpoint},True,False}
+    load_path: ${...checkpoint}
+    rh_base_model_checkpoint: ${...rh_base_model_checkpoint}
+    lh_base_model_checkpoint: ${...lh_base_model_checkpoint}
+    dexhand: ${...dexhand}
+    base_privileged_dim: ${ndof:${dexhand}}
+    base_proprioception_dim: ${eval:'13+${ndof:${...dexhand}}*3'}
+    base_target_dim: ${eval:'3+3+3+4+4+3+3+(${nbody:${...dexhand}}-1)*3*3'}
+    config:
+      name: ${resolve_default:ResDexHand,${....experiment}}
+      full_experiment_name: baseline_0f900@0_inspire_lh__02-14-20-02-07
+      env_name: rlgpu
+      multi_gpu: ${....multi_gpu}
+      ppo: true
+      mixed_precision: false
+      normalize_input: true
+      normalize_input_excluded_keys: []
+      normalize_value: true
+      use_pid_control: ${....usePIDControl}
+      value_bootstrap: true
+      num_actors: ${....task.env.numEnvs}
+      reward_shaper:
+        scale_value: 1.0
+      normalize_advantage: true
+      gamma: 0.99
+      tau: 0.95
+      learning_rate: ${resolve_default:5e-4,${....learning_rate}}
+      lr_schedule: warmup
+      warmup_steps: 10
+      schedule_type: standard
+      kl_threshold: 0.008
+      score_to_win: 10000
+      max_epochs: ${resolve_default:10000,${....max_iterations}}
+      early_stop_epochs: ${resolve_default:500,${....early_stop_epochs}}
+      save_best_after: 2
+      save_frequency: 100
+      print_stats: true
+      grad_norm: 1.0
+      entropy_coef: 0.0
+      truncate_grads: true
+      e_clip: 0.2
+      horizon_length: 32
+      minibatch_size: 1024
+      mini_epochs: 5
+      critic_coef: 4
+      clip_value: true
+      seq_len: 4
+      bounds_loss_coef: 0.0001
+      use_soft_clamp: true
+      mix_ratio: 0.5
+task_name: ${task.name}
+experiment: baseline
+side: LH
+bimanual_mode: united
+dexhand: inspire
+rh_base_model_checkpoint: assets/imitator_rh_inspire.pth
+lh_base_model_checkpoint: assets/imitator_lh_inspire.pth
+num_envs: 4096
+rolloutStateInit: false
+randomStateInit: true
+rolloutLen: null
+rolloutBegin: null
+learning_rate: 0.0002
+actionsMovingAverage: 0.4
+usePIDControl: false
+dataIndices:
+- 0f900@0
+seed: 42
+torch_deterministic: false
+max_iterations: 100
+early_stop_epochs: 9999999999999
+physics_engine: physx
+pipeline: gpu
+sim_device: cuda:0
+rl_device: cuda:0
+graphics_device_id: 0
+num_threads: 4
+solver_type: 1
+num_subscenes: 4
+test: false
+save_rollouts: false
+save_successful_rollouts_only: true
+num_rollouts_to_save: 20000
+num_rollouts_to_run: 9999999999999
+min_episode_length: 20
+checkpoint: ''
+from_ckpt_epoch: false
+sigma: ''
+multi_gpu: false
+wandb_activate: false
+wandb_group: ''
+wandb_name: ${rl_train.params.config.name}
+wandb_entity: null
+wandb_project: null
+wandb_tags: []
+wandb_logcode_dir: ''
+capture_video: false
+n_parallel_recorders: 8
+n_successful_videos_to_record: 50
+display: false
+headless: true
diff --git a/example_datasets/raw/maniptrans/rl_runs/baseline_0f900@0_inspire_lh/last_baseline_ep_100_rew_2767.1287_sr_0.846562385559082_fr_0.15343748033046722.pth b/example_datasets/raw/maniptrans/rl_runs/baseline_0f900@0_inspire_lh/last_baseline_ep_100_rew_2767.1287_sr_0.846562385559082_fr_0.15343748033046722.pth
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diff --git a/example_datasets/raw/maniptrans/rl_runs/baseline_0f900@0_inspire_lh/last_baseline_ep_100_rew__2767.13_.pth b/example_datasets/raw/maniptrans/rl_runs/baseline_0f900@0_inspire_lh/last_baseline_ep_100_rew__2767.13_.pth
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