test-final

app.py

@@ -498,8 +498,8 @@ class DynamicsVisualizer:
 
         statics = StaticsBatch()
         statics.init(shape=(batch_size, num_particles), device=self.wp_device)
-        statics.update_clip_bound(self.state['clip_bound'])
-        statics.update_enabled(self.state['enabled'][None])
+        statics.update_clip_bound(self.state['clip_bound'].detach().cpu())
+        statics.update_enabled(self.state['enabled'][None].detach().cpu())
         colliders = CollidersBatch()
         colliders.init(shape=(batch_size, cfg.sim.num_grippers), device=self.wp_device)
 
@@ -570,7 +570,7 @@ class DynamicsVisualizer:
             print('v:', eef_v.cpu().numpy().tolist())
 
         # load model, sim, statics, colliders
-        self.reload_model(num_steps)
+        # self.reload_model(num_steps)
         
         # initialize colliders
         if cfg.sim.num_grippers > 0:
@@ -1035,9 +1035,14 @@ class DynamicsVisualizer:
         self.gripper_params = tuple(
             v.to(self.torch_device) if isinstance(v, torch.Tensor) else v for v in self.gripper_params
         )
+        
+        num_steps = 15
+        batch_size = 1
+        num_particles = self.cfg.sim.n_particles
+        self.init_model(batch_size, num_steps, num_particles, ckpt_path=None)
 
         # im_list = []
-        for i in range(15):
+        for i in range(num_steps):
             dt = 0.1  # 100ms
             command = torch.tensor([unit_command]).to(self.device).to(torch.float32)  # 5cm/s
             command = self.preprocess_gripper(command)

src/experiments/log/gs/temp/gs_pred.splat

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:9e66dd4cc45e6a67802892bf1173190406d3403ecd2416313fbc5b94eff0898a
+oid sha256:111f09eae16a77a8e63af83f4adcb78c21ac301113a18fae10bcaa89432aff5f
 size 7675392