hand: sharpa
output: ik_model/sharpa_motion_alignment
data:
  unsupervised:
  - manus_unsupervised
  pair:
  - asset: sharpa_open
    source_weight: 1.5
    finger_mask:
    - - 1
      - 1
      - 1
      - 1
      - 1
  - asset: sharpa_pinch
    source_weight: 1.0
    finger_mask:
    - - 1
      - 1
      - 0
      - 0
      - 0
    - - 1
      - 0
      - 1
      - 0
      - 0
    - - 1
      - 0
      - 0
      - 1
      - 0
    - - 1
      - 0
      - 0
      - 0
      - 1
  - asset: sharpa_rest
    source_weight: 1.0
    finger_mask:
    - - 1
      - 1
      - 1
      - 1
      - 1
  geo: []
  training_samples: 20000
  voxel_size_m: 0.003
workspace:
  robot_samples: 1000000
objective:
  pair: 40.0
  pair_position: 0.0
  geo: 0.0
  motion:
    formula: motion_alignment
    weight: 60.0
    directions: 64
    temperature: 0.05
    perturb_min_m: 0.001
    perturb_max_m: 0.011
  conformal: 10.0
  chamfer: 0.0
  curvature:
    weight: 100000000.0
    step_m: 0.002
  pinch:
    weight: 750.0
    threshold_m: 0.015
  interfinger:
    weight: 150.0
    margin_scale: 0.3
    min_margin_m: 0.001
  collision:
    weight: 20.0
    margin_m: 0.0
optimization:
  epochs: 500
  batch_size: 2048
  learning_rate: 0.0002
  schedule: cosine
  warmup_epochs: 10
  ema_decay: 0.995
  seed: 7
provenance:
  assets_revision: main
  asset_sha256:
    data/neural_hand/human/manus/unsupervised.npz: 22cb50cab85fbb879fdd29f242dcb1ab75bc4753d3fade06fb9d8f462d7ef697
    data/neural_hand/pairs/sharpa/open.npz: 7cfe77f35207c7590e6e321cfd9cdd703223280e8bc705ff3677ef50e998534f
    data/neural_hand/pairs/sharpa/pinch.npz: 1261f29cc9e71e45510bdb369d118d4a608ec787ec4cded5097471e5596a5325
    data/neural_hand/pairs/sharpa/rest.npz: 59b30c9ffed7483de6fab1a3019bc1e234534177e8ed3d345d6bbdbf919e384c
  urdf_sha256: f2c0373420ff40ad0a57612afc298688b39b628c29647eda0791c9520859a542