diff --git a/.gitattributes b/.gitattributes
index faf5c54419634f284ef5e1a494ba9b42a822efbf..9aeefeedadfa8e1a14c590e8384f3d8390d35591 100644
--- a/.gitattributes
+++ b/.gitattributes
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diff --git a/datasets/transparent_bunny/outputs_with_touches/config.yml b/datasets/transparent_bunny/outputs_with_touches/config.yml
new file mode 100644
index 0000000000000000000000000000000000000000..96d27c7ceede01817705c1b9d1adbf354240b411
--- /dev/null
+++ b/datasets/transparent_bunny/outputs_with_touches/config.yml
@@ -0,0 +1,273 @@
+!!python/object:dn_splatter.dn_config.FSTrainerConfig
+_target: !!python/name:nerfstudio.engine.trainer.Trainer ''
+data: null
+experiment_name: null
+gradient_accumulation_steps:
+  camera_opt: 100
+  color: 10
+  shs: 10
+load_checkpoint: null
+load_config: null
+load_dir: null
+load_scheduler: true
+load_step: null
+log_gradients: false
+logging: !!python/object:nerfstudio.configs.base_config.LoggingConfig
+  local_writer: !!python/object:nerfstudio.configs.base_config.LocalWriterConfig
+    _target: !!python/name:nerfstudio.utils.writer.LocalWriter ''
+    enable: true
+    max_log_size: 10
+    stats_to_track: !!python/tuple
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - Train Iter (time)
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - Train Rays / Sec
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - Test PSNR
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - Vis Rays / Sec
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - Test Rays / Sec
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - ETA (time)
+  max_buffer_size: 20
+  profiler: basic
+  relative_log_dir: !!python/object/apply:pathlib.PosixPath []
+  steps_per_log: 10
+machine: !!python/object:nerfstudio.configs.base_config.MachineConfig
+  device_type: cuda
+  dist_url: auto
+  machine_rank: 0
+  num_devices: 1
+  num_machines: 1
+  seed: 42
+max_num_iterations: 15000
+method_name: dn-splatter
+mixed_precision: false
+optimizers:
+  camera_opt:
+    optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig
+      _target: &id001 !!python/name:torch.optim.adam.Adam ''
+      eps: 1.0e-15
+      lr: 0.001
+      max_norm: null
+      weight_decay: 0
+    scheduler: !!python/object:nerfstudio.engine.schedulers.ExponentialDecaySchedulerConfig
+      _target: &id002 !!python/name:nerfstudio.engine.schedulers.ExponentialDecayScheduler ''
+      lr_final: 5.0e-05
+      lr_pre_warmup: 1.0e-08
+      max_steps: 30000
+      ramp: cosine
+      warmup_steps: 0
+  features_dc:
+    optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig
+      _target: *id001
+      eps: 1.0e-15
+      lr: 0.0025
+      max_norm: null
+      weight_decay: 0
+    scheduler: null
+  features_rest:
+    optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig
+      _target: *id001
+      eps: 1.0e-15
+      lr: 0.000125
+      max_norm: null
+      weight_decay: 0
+    scheduler: null
+  means:
+    optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig
+      _target: *id001
+      eps: 1.0e-15
+      lr: 0.00016
+      max_norm: null
+      weight_decay: 0
+    scheduler: !!python/object:nerfstudio.engine.schedulers.ExponentialDecaySchedulerConfig
+      _target: *id002
+      lr_final: 1.6e-06
+      lr_pre_warmup: 1.0e-08
+      max_steps: 30000
+      ramp: cosine
+      warmup_steps: 0
+  normals:
+    optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig
+      _target: *id001
+      eps: 1.0e-15
+      lr: 0.001
+      max_norm: null
+      weight_decay: 0
+    scheduler: null
+  opacities:
+    optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig
+      _target: *id001
+      eps: 1.0e-15
+      lr: 0.05
+      max_norm: null
+      weight_decay: 0
+    scheduler: null
+  quats:
+    optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig
+      _target: *id001
+      eps: 1.0e-15
+      lr: 0.001
+      max_norm: null
+      weight_decay: 0
+    scheduler: null
+  scales:
+    optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig
+      _target: *id001
+      eps: 1.0e-15
+      lr: 0.005
+      max_norm: null
+      weight_decay: 0
+    scheduler: null
+output_dir: !!python/object/apply:pathlib.PosixPath
+- datasets
+- transparent_bunny
+- outputs_with_touches
+pipeline: !!python/object:dn_splatter.dn_pipeline.DNSplatterPipelineConfig
+  _target: !!python/name:dn_splatter.dn_pipeline.DNSplatterPipeline ''
+  datamanager: !!python/object:dn_splatter.dn_datamanager.DNSplatterManagerConfig
+    _target: !!python/name:dn_splatter.dn_datamanager.DNSplatterDataManager ''
+    cache_images: gpu
+    cache_images_type: float32
+    camera_res_scale_factor: 1.0
+    data: null
+    dataparser: !!python/object:dn_splatter.data.normal_nerfstudio.NormalNerfstudioConfig
+      _target: !!python/name:dn_splatter.data.normal_nerfstudio.NormalNerfstudio ''
+      auto_scale_poses: true
+      center_method: none
+      data: !!python/object/apply:pathlib.PosixPath
+      - datasets
+      - transparent_bunny
+      depth_unit_scale_factor: 0.001
+      downscale_factor: null
+      eval_interval: 8
+      eval_mode: fraction
+      grad_visualization: false
+      load_3D_points: true
+      load_normals: true
+      load_pcd_normals: true
+      load_touches: true
+      mask_color: null
+      normal_format: opencv
+      orientation_method: none
+      scale_factor: 1.0
+      scene_scale: 1.0
+      train_split_fraction: 0.9
+    eval_image_indices: !!python/tuple
+    - 0
+    eval_num_images_to_sample_from: -1
+    eval_num_times_to_repeat_images: -1
+    fps_reset_every: 100
+    images_on_gpu: false
+    masks_on_gpu: false
+    max_thread_workers: null
+    train_cameras_sampling_seed: 42
+    train_cameras_sampling_strategy: random
+  experiment_name: experiment
+  model: !!python/object:dn_splatter.dn_model.DNSplatterModelConfig
+    _target: !!python/name:dn_splatter.dn_model.DNSplatterModel ''
+    add_touch_at: 1000
+    apply_sdf_loss_after_iters: 200
+    apply_sdf_loss_iters: 10
+    background_color: random
+    base_dir: !!python/object/apply:pathlib.PosixPath
+    - datasets
+    - transparent_bunny
+    - outputs_with_touches
+    binary_opacities_threshold: 0.9
+    camera_optimizer: !!python/object:nerfstudio.cameras.camera_optimizers.CameraOptimizerConfig
+      _target: !!python/name:nerfstudio.cameras.camera_optimizers.CameraOptimizer ''
+      mode: 'off'
+      optimizer: null
+      rot_l2_penalty: 0.001
+      scheduler: null
+      trans_l2_penalty: 0.01
+    collider_params:
+      far_plane: 6.0
+      near_plane: 2.0
+    continue_cull_post_densification: true
+    cull_alpha_thresh: 0.1
+    cull_scale_thresh: 0.5
+    cull_screen_size: 0.15
+    densify_grad_thresh: 0.0008
+    densify_size_thresh: 0.01
+    depth_loss_type: !!python/object/apply:dn_splatter.losses.DepthLossType
+    - EdgeAwareLogL1
+    depth_tolerance: 0.1
+    enable_collider: true
+    eval_num_rays_per_chunk: 4096
+    knn_to_track: 16
+    loss_coefficients:
+      rgb_loss_coarse: 1.0
+      rgb_loss_fine: 1.0
+    max_gauss_ratio: 5.0
+    mono_depth_lambda: 0.0
+    n_split_samples: 2
+    normal_lambda: 0.4
+    normal_supervision: mono
+    num_downscales: 0
+    num_random: 50000
+    num_sdf_samples: 100
+    output_depth_during_training: true
+    predict_normals: true
+    prompt: null
+    random_init: false
+    random_scale: 10.0
+    rasterize_mode: classic
+    refine_every: 100
+    reset_alpha_every: 30
+    resolution_schedule: 3000
+    sdf_loss_lambda: 0.1
+    sensor_depth_lambda: 0.2
+    sh_degree: 3
+    sh_degree_interval: 1000
+    smooth_loss_lambda: 0.1
+    smooth_loss_type: !!python/object/apply:dn_splatter.losses.DepthLossType
+    - TV
+    sparse_lambda: 0.1
+    sparse_loss_steps: 10
+    split_screen_size: 0.05
+    ssim_lambda: 0.2
+    stop_screen_size_at: 4000
+    stop_split_at: 10000
+    two_d_gaussians: true
+    use_binary_opacities: true
+    use_depth_loss: true
+    use_depth_smooth_loss: true
+    use_normal_cosine_loss: false
+    use_normal_loss: true
+    use_normal_tv_loss: true
+    use_scale_regularization: false
+    use_sdf_loss: false
+    use_sparse_loss: false
+    warmup_length: 500
+  num_pd_points: 1000000
+  save_train_images: false
+  skip_point_metrics: true
+project_name: nerfstudio-project
+prompt: null
+relative_model_dir: !!python/object/apply:pathlib.PosixPath
+- nerfstudio_models
+save_only_latest_checkpoint: true
+steps_per_eval_all_images: 1000000
+steps_per_eval_batch: 500
+steps_per_eval_image: 500
+steps_per_save: 15000
+timestamp: 2024-09-16_000425
+use_grad_scaler: false
+viewer: !!python/object:nerfstudio.configs.base_config.ViewerConfig
+  camera_frustum_scale: 0.1
+  default_composite_depth: true
+  image_format: jpeg
+  jpeg_quality: 75
+  make_share_url: false
+  max_num_display_images: 512
+  num_rays_per_chunk: 32768
+  quit_on_train_completion: false
+  relative_log_filename: viewer_log_filename.txt
+  websocket_host: 0.0.0.0
+  websocket_port: null
+  websocket_port_default: 7007
+vis: viewer
diff --git a/datasets/transparent_bunny/outputs_with_touches/dataparser_transforms.json b/datasets/transparent_bunny/outputs_with_touches/dataparser_transforms.json
new file mode 100644
index 0000000000000000000000000000000000000000..e839beaa857c73f556829f3cdf5633acdf7de7a3
--- /dev/null
+++ b/datasets/transparent_bunny/outputs_with_touches/dataparser_transforms.json
@@ -0,0 +1,23 @@
+{
+    "transform": [
+        [
+            1.0,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            0.0,
+            1.0,
+            0.0,
+            0.0
+        ],
+        [
+            0.0,
+            0.0,
+            1.0,
+            0.0
+        ]
+    ],
+    "scale": 1.654869343745287
+}
\ No newline at end of file
diff --git a/datasets/transparent_bunny/outputs_with_touches/high_grad_pts.pcd b/datasets/transparent_bunny/outputs_with_touches/high_grad_pts.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..c2c814b04c27c7e2c9f56d1aece7613fb3f34506
Binary files /dev/null and b/datasets/transparent_bunny/outputs_with_touches/high_grad_pts.pcd differ
diff --git a/datasets/transparent_bunny/outputs_with_touches/high_grad_pts_ascii.pcd b/datasets/transparent_bunny/outputs_with_touches/high_grad_pts_ascii.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..58156b3fac1acdb0239938c3dd72189781bd8651
--- /dev/null
+++ b/datasets/transparent_bunny/outputs_with_touches/high_grad_pts_ascii.pcd
@@ -0,0 +1,777 @@
+# .PCD v0.7 - Point Cloud Data file format
+VERSION 0.7
+FIELDS x y z rgb ranks cluster_ctrs_y cluster_ctrs_x cluster_ctrs_z
+SIZE 4 4 4 4 8 8 8 8
+TYPE F F F F F F F F
+COUNT 1 1 1 1 1 1 1 1
+WIDTH 766
+HEIGHT 1
+VIEWPOINT 0 0 0 1 0 0 0
+POINTS 766
+DATA ascii
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+        "images/rgb_5.png",
+        "images/rgb_15.png",
+        "images/rgb_14.png",
+        "images/rgb_36.png",
+        "images/rgb_25.png",
+        "images/rgb_33.png",
+        "images/rgb_35.png",
+        "images/rgb_40.png",
+        "images/rgb_16.png",
+        "images/rgb_45.png",
+        "images/rgb_17.png",
+        "images/rgb_34.png",
+        "images/rgb_28.png",
+        "images/rgb_27.png",
+        "images/rgb_43.png",
+        "images/rgb_4.png",
+        "images/rgb_29.png",
+        "images/rgb_31.png",
+        "images/rgb_32.png",
+        "images/rgb_38.png",
+        "images/rgb_22.png",
+        "images/rgb_30.png",
+        "images/rgb_2.png",
+        "images/rgb_26.png",
+        "images/rgb_24.png",
+        "images/rgb_41.png",
+        "images/rgb_44.png",
+        "images/rgb_8.png"
+    ],
+    "val_filenames": [
+        "images/rgb_3.png",
+        "images/rgb_21.png",
+        "images/rgb_1.png",
+        "images/rgb_39.png",
+        "images/rgb_0.png",
+        "images/rgb_19.png",
+        "images/rgb_7.png",
+        "images/rgb_5.png",
+        "images/rgb_15.png",
+        "images/rgb_14.png"
+    ],
+    "ply_file_path": "merged_pcd.ply",
+    "object_pc_path": "foreground_pcd.ply",
+    "mesh_aabb": true
+}
\ No newline at end of file
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--- /dev/null
+++ b/datasets/transparent_bunny/voxels.png
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