contactopt/run_contactopt.py [89:95]:
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                                           w_cont_hand=args.w_cont_hand, w_cont_obj=1, save_history=args.vis, ncomps=args.ncomps,
                                           w_cont_asym=args.w_cont_asym, w_opt_trans=args.w_opt_trans, w_opt_pose=args.w_opt_pose,
                                           w_opt_rot=args.w_opt_rot,
                                           caps_top=args.caps_top, caps_bot=args.caps_bot, caps_rad=args.caps_rad,
                                           caps_on_hand=args.caps_hand,
                                           contact_norm_method=args.cont_method, w_pen_cost=args.w_pen_cost,
                                           w_obj_rot=args.w_obj_rot, pen_it=args.pen_it)
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contactopt/run_contactopt.py [114:120]:
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                                   w_cont_hand=args.w_cont_hand, w_cont_obj=1, save_history=args.vis, ncomps=args.ncomps,
                                   w_cont_asym=args.w_cont_asym, w_opt_trans=args.w_opt_trans, w_opt_pose=args.w_opt_pose,
                                   w_opt_rot=args.w_opt_rot,
                                   caps_top=args.caps_top, caps_bot=args.caps_bot, caps_rad=args.caps_rad,
                                   caps_on_hand=args.caps_hand,
                                   contact_norm_method=args.cont_method, w_pen_cost=args.w_pen_cost,
                                   w_obj_rot=args.w_obj_rot, pen_it=args.pen_it)
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