update

.gitattributes

@@ -33,3 +33,6 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 *.zip filter=lfs diff=lfs merge=lfs -text
 *.zst filter=lfs diff=lfs merge=lfs -text
 *tfevents* filter=lfs diff=lfs merge=lfs -text
+*.png filter=lfs diff=lfs merge=lfs -text
+*.splat filter=lfs diff=lfs merge=lfs -text
+*.glb filter=lfs diff=lfs merge=lfs -text

.gitignore

@@ -0,0 +1,2 @@
+__pycache__/
+.gradio/

app.py

@@ -1,154 +1,1187 @@
 import gradio as gr
-import numpy as np
+from PIL import Image
+from pathlib import Path
+from omegaconf import DictConfig, OmegaConf
+from tqdm import tqdm, trange
 import random
-
-# import spaces #[uncomment to use ZeroGPU]
-from diffusers import DiffusionPipeline
+import math
+import hydra
+import numpy as np
 import torch
+import torch.nn as nn
+import torch.backends.cudnn
+import warp as wp
+import glob
+from torch.utils.data import DataLoader
+import os
+import time
+import cv2
+import copy
+import open3d as o3d
+import kornia
+import yaml
+import matplotlib.pyplot as plt
+from sklearn.neighbors import NearestNeighbors
+from dgl.geometry import farthest_point_sampler
+
+import sys
+sys.path.insert(0, str(Path(__file__).parent / "src"))
+sys.path.append(str(Path(__file__).parent / "src" / "experiments"))
+
+from pgnd.sim import Friction, CacheDiffSimWithFrictionBatch, StaticsBatch, CollidersBatch
+from pgnd.material import PGNDModel
+from pgnd.data import RealTeleopBatchDataset, RealGripperDataset
+from pgnd.utils import Logger, get_root, mkdir
+from pgnd.ffmpeg import make_video
+
+from real_world.utils.render_utils import interpolate_motions
+from real_world.gs.helpers import setup_camera
+from real_world.gs.convert import save_to_splat, read_splat
+
+from diff_gaussian_rasterization import GaussianRasterizer
+from diff_gaussian_rasterization import GaussianRasterizationSettings as Camera
+
+root = Path(__file__).parent / "src" / "experiments"
+
+
+def quat2mat(quat):
+    return kornia.geometry.conversions.quaternion_to_rotation_matrix(quat)
+
+
+def mat2quat(mat):
+    return kornia.geometry.conversions.rotation_matrix_to_quaternion(mat)
+
+
+def fps(x, enabled, n, device, random_start=False):
+    assert torch.diff(enabled * 1.0).sum() in [0.0, -1.0]
+    start_idx = random.randint(0, enabled.sum() - 1) if random_start else 0
+    fps_idx = farthest_point_sampler(x[enabled][None], n, start_idx=start_idx)[0]
+    fps_idx = fps_idx.to(x.device)
+    return fps_idx
+
+
+class DynamicsVisualizer:
+
+    def __init__(self):
+        wp.init()
+
+        self.width = 640
+        self.height = 480
+
+        best_models = {
+            'cloth': ['cloth', 'train', 100000, [610, 650]],
+            'rope': ['rope', 'train', 100000, [651, 691]],
+            'paperbag': ['paperbag', 'train', 100000, [200, 220]],
+            'sloth': ['sloth', 'train', 100000, [113, 133]],
+            'box': ['box', 'train', 100000, [306, 323]],
+            'bread': ['bread', 'train', 100000, [143, 163]],
+        }
+
+        task_name = 'rope'
+
+        with open(root / f'log/{best_models[task_name][0]}/{best_models[task_name][1]}/hydra.yaml', 'r') as f:
+            config = yaml.load(f, Loader=yaml.CLoader)
+        cfg = OmegaConf.create(config)
+
+        cfg.iteration = best_models[task_name][2]
+        cfg.start_episode = best_models[task_name][3][0]
+        cfg.end_episode = best_models[task_name][3][1]
+        cfg.sim.num_steps = 1000
+        cfg.sim.gripper_forcing = False
+        cfg.sim.uniform = True
+        cfg.sim.use_pv = False
+
+        device = torch.device('cuda:0')
+
+        self.cfg = cfg
+        self.device = device
+        self.k_rel = 8  # knn for relations
+        self.k_wgt = 16  # knn for weights
+        self.with_bg = True
+        self.render_gripper = True
+        self.verbose = False
+
+        self.dt_base = cfg.sim.dt
+        self.high_freq_pred = True
+
+        gpus = [int(gpu) for gpu in cfg.gpus]
+        wp_devices = [wp.get_device(f'cuda:{gpu}') for gpu in gpus]
+        torch_devices = [torch.device(f'cuda:{gpu}') for gpu in gpus]
+        device_count = len(torch_devices)
+        assert device_count == 1
+        self.wp_device = wp_devices[0]
+        self.torch_device = torch_devices[0]
+
+        seed = cfg.seed
+        random.seed(seed)
+        np.random.seed(seed)
+        torch.manual_seed(seed)
+        torch.autograd.set_detect_anomaly(True)
+        torch.backends.cudnn.benchmark = True
+
+        self.clear()
+    
+    def clear(self, clear_params=True):
+        self.metadata = {}
+        self.config = {}
+        if clear_params:
+            self.params = None
+            self.state = {
+                # object
+                'x': None,
+                'v': None,
+                'x_his': None,
+                'v_his': None,
+                'x_pred': None,
+                'v_pred': None,
+                'clip_bound': None,
+                'enabled': None,
+                # robot
+                'prev_key_pos': None,
+                'prev_key_pos_timestamp': None,
+                'sub_pos': None,  # filling in between key positions
+                'sub_pos_timestamps': None,
+                'gripper_radius': None,
+            }
+            self.preprocess_metadata = None
+            self.table_params = None
+            self.gripper_params = None
+
+        self.sim = None
+        self.statics = None
+        self.colliders = None
+        self.material = None
+        self.friction = None
+
+    def load_scaniverse(self, data_path):
+
+        ### load splat params
+
+        params_obj = read_splat(data_path / 'object.splat')
+        params_table = read_splat(data_path / 'table.splat')
+        params_robot = read_splat(data_path / 'gripper.splat')
+
+        pts, colors, scales, quats, opacities = params_obj
+        self.params = {
+            'means3D': torch.from_numpy(pts).to(torch.float32).to(self.device),
+            'rgb_colors': torch.from_numpy(colors).to(torch.float32).to(self.device),
+            'log_scales': torch.log(torch.from_numpy(scales).to(torch.float32).to(self.device)),
+            'unnorm_rotations': torch.from_numpy(quats).to(torch.float32).to(self.device),
+            'logit_opacities': torch.logit(torch.from_numpy(opacities).to(torch.float32).to(self.device))
+        }
+
+        t_pts, t_colors, t_scales, t_quats, t_opacities = params_table
+        t_pts = torch.tensor(t_pts).to(torch.float32).to(self.device)
+        t_colors = torch.tensor(t_colors).to(torch.float32).to(self.device)
+        t_scales = torch.tensor(t_scales).to(torch.float32).to(self.device)
+        t_quats = torch.tensor(t_quats).to(torch.float32).to(self.device)
+        t_opacities = torch.tensor(t_opacities).to(torch.float32).to(self.device)
+
+        g_pts, g_colors, g_scales, g_quats, g_opacities = params_robot
+        g_pts = torch.tensor(g_pts).to(torch.float32).to(self.device)
+        g_colors = torch.tensor(g_colors).to(torch.float32).to(self.device)
+        g_scales = torch.tensor(g_scales).to(torch.float32).to(self.device)
+        g_quats = torch.tensor(g_quats).to(torch.float32).to(self.device)
+        g_opacities = torch.tensor(g_opacities).to(torch.float32).to(self.device)
+
+        self.table_params = t_pts, t_colors, t_scales, t_quats, t_opacities  # data frame
+        self.gripper_params = g_pts, g_colors, g_scales, g_quats, g_opacities  # data frame
+
+        n_particles = self.cfg.sim.n_particles
+        self.state['clip_bound'] = torch.tensor([self.cfg.model.clip_bound], dtype=torch.float32)
+        self.state['enabled'] = torch.ones(n_particles, dtype=torch.bool)
+
+        ### load preprocess metadata
+
+        cfg = self.cfg
+        dx = cfg.sim.num_grids[-1]
+
+        p_x = torch.tensor(pts).to(torch.float32).to(self.device)
+        R = torch.tensor(
+            [[1, 0, 0],
+            [0, 0, -1],
+            [0, 1, 0]]
+        ).to(p_x.device).to(p_x.dtype)
+        p_x_rotated = p_x @ R.T
+
+        scale = 1.0
+        p_x_rotated_scaled = p_x_rotated * scale
+
+        global_translation = torch.tensor([
+            0.5 - p_x_rotated_scaled[:, 0].mean(),
+            dx * (cfg.model.clip_bound + 0.5) - p_x_rotated_scaled[:, 1].min(),
+            0.5 - p_x_rotated_scaled[:, 2].mean(),
+        ], dtype=p_x_rotated_scaled.dtype, device=p_x_rotated_scaled.device)
+
+        R_viewer = torch.tensor(
+            [[1, 0, 0],
+            [0, 0, -1],
+            [0, 1, 0]]
+        ).to(p_x.device).to(p_x.dtype)
+        t_viewer = torch.tensor([0, 0, 0]).to(p_x.device).to(p_x.dtype)
+
+        self.preprocess_metadata = {
+            'R': R,
+            'R_viewer': R_viewer,
+            't_viewer': t_viewer,
+            'scale': scale,
+            'global_translation': global_translation,
+        }
+
+        ### load eef
+        grippers = np.loadtxt(data_path / 'eef_xyz.txt')[None]
+        assert grippers.shape == (1, 3)
+        
+        if grippers is not None:
+            grippers = torch.tensor(grippers).to(self.device).to(torch.float32)
+
+            # transform
+            # data frame to model frame
+            R = self.preprocess_metadata['R']
+            scale = self.preprocess_metadata['scale']
+            global_translation = self.preprocess_metadata['global_translation']
+            grippers[:, :3] = grippers[:, :3] @ R.T
+            grippers[:, :3] = grippers[:, :3] * scale
+            grippers[:, :3] += global_translation
+
+            assert grippers.shape[0] == 1
+            self.state['prev_key_pos'] = grippers[:, :3]  # (1, 3)
+            # self.state['prev_key_pos_timestamp'] = torch.zeros(1).to(self.device).to(torch.float32)
+            self.state['gripper_radius'] = cfg.model.gripper_radius
+
+
+    def load_params(self, params_path, remove_low_opa=True, remove_black=False):
+        pts, colors, scales, quats, opacities = read_splat(params_path)
+        
+        if remove_low_opa:
+            low_opa_idx = opacities[:, 0] < 0.1
+            pts = pts[~low_opa_idx]
+            colors = colors[~low_opa_idx]
+            quats = quats[~low_opa_idx]
+            opacities = opacities[~low_opa_idx]
+            scales = scales[~low_opa_idx]
+
+        if remove_black:
+            low_color_idx = colors.sum(axis=-1) < 0.5
+            pts = pts[~low_color_idx]
+            colors = colors[~low_color_idx]
+            quats = quats[~low_color_idx]
+            opacities = opacities[~low_color_idx]
+            scales = scales[~low_color_idx]
+        
+        self.params = {
+            'means3D': torch.from_numpy(pts).to(torch.float32).to(self.device),
+            'rgb_colors': torch.from_numpy(colors).to(torch.float32).to(self.device),
+            'log_scales': torch.log(torch.from_numpy(scales).to(torch.float32).to(self.device)),
+            'unnorm_rotations': torch.from_numpy(quats).to(torch.float32).to(self.device),
+            'logit_opacities': torch.logit(torch.from_numpy(opacities).to(torch.float32).to(self.device))
+        }
+
+        table_splat = root / 'log/gs/ckpts/table.splat'
+        sphere_splat = root / 'log/gs/ckpts/sphere.splat'
+        gripper_splat = root / 'log/gs/ckpts/gripper.splat'  # gripper_new.splat
+
+        table_params = read_splat(table_splat)  # numpy
+
+        ## add table and gripper
+        # add table
+        t_pts, t_colors, t_scales, t_quats, t_opacities = table_params
+        t_pts = torch.tensor(t_pts).to(torch.float32).to(self.device)
+        t_colors = torch.tensor(t_colors).to(torch.float32).to(self.device)
+        t_scales = torch.tensor(t_scales).to(torch.float32).to(self.device)
+        t_quats = torch.tensor(t_quats).to(torch.float32).to(self.device)
+        t_opacities = torch.tensor(t_opacities).to(torch.float32).to(self.device)
+
+        # add table pos
+        t_pts = t_pts + torch.tensor([0, 0, 0.02]).to(torch.float32).to(self.device)
+
+        # add gripper
+        gripper_params = read_splat(gripper_splat)  # numpy
+        
+        g_pts, g_colors, g_scales, g_quats, g_opacities = gripper_params
+        g_pts = torch.tensor(g_pts).to(torch.float32).to(self.device)
+        g_colors = torch.tensor(g_colors).to(torch.float32).to(self.device)
+        g_scales = torch.tensor(g_scales).to(torch.float32).to(self.device)
+        g_quats = torch.tensor(g_quats).to(torch.float32).to(self.device)
+        g_opacities = torch.tensor(g_opacities).to(torch.float32).to(self.device)
+
+        # we do not do the gripper translation now because this will center the gripper in the data frame but not the viewer frame
+
+        self.table_params = t_pts, t_colors, t_scales, t_quats, t_opacities  # data frame
+        self.gripper_params = g_pts, g_colors, g_scales, g_quats, g_opacities  # data frame
+
+        # load other info
+        n_particles = self.cfg.sim.n_particles
+        self.state['clip_bound'] = torch.tensor([self.cfg.model.clip_bound], dtype=torch.float32)
+        self.state['enabled'] = torch.ones(n_particles, dtype=torch.bool)
+
+
+    def set_camera(self, w, h, intr, w2c=None, R=None, t=None, near=0.01, far=100.0):
+        if w2c is None:
+            assert R is not None and t is not None
+            w2c = Rt_to_w2c(R, t)
+        self.metadata = {
+            'w': w,
+            'h': h,
+            'k': intr,
+            'w2c': w2c,
+        }
+        self.config = {'near': near, 'far': far}
+    
+    def load_eef(self, grippers=None, eef_t=None):
+        assert self.state['prev_key_pos'] is None
+
+        if grippers is not None:
+            grippers = torch.tensor(grippers).to(self.device).to(torch.float32)
+            eef_t = torch.tensor(eef_t).to(self.device).to(torch.float32)
+            grippers[:, :3] = grippers[:, :3] + eef_t
+
+            # transform
+            # data frame to model frame
+            R = self.preprocess_metadata['R']
+            scale = self.preprocess_metadata['scale']
+            global_translation = self.preprocess_metadata['global_translation']
+            grippers[:, :3] = grippers[:, :3] @ R.T
+            grippers[:, :3] = grippers[:, :3] * scale
+            grippers[:, :3] += global_translation
+
+            assert grippers.shape[0] == 1
+            self.state['prev_key_pos'] = grippers[:, :3]  # (1, 3)
+            # self.state['prev_key_pos_timestamp'] = torch.zeros(1).to(self.device).to(torch.float32) + 0.001
+            self.state['gripper_radius'] = self.cfg.model.gripper_radius
+
+    def load_preprocess_metadata(self, p_x_orig):
+        cfg = self.cfg
+        dx = cfg.sim.num_grids[-1]
+
+        p_x_orig = p_x_orig.to(self.device)
+        R = torch.tensor(
+            [[1, 0, 0],
+            [0, 0, -1],
+            [0, 1, 0]]
+        ).to(p_x_orig.device).to(p_x_orig.dtype)
+        p_x_orig_rotated = torch.einsum('nij,jk->nik', p_x_orig, R.T)
+
+        scale = 1.0
+        p_x_orig_rotated_scaled = p_x_orig_rotated * scale
+
+        global_translation = torch.tensor([
+            0.5 - p_x_orig_rotated_scaled[:, :, 0].mean(),
+            dx * (cfg.model.clip_bound + 0.5) - p_x_orig_rotated_scaled[:, :, 1].min(),
+            0.5 - p_x_orig_rotated_scaled[:, :, 2].mean(),
+        ], dtype=p_x_orig_rotated_scaled.dtype, device=p_x_orig_rotated_scaled.device)
+
+        R_viewer = torch.tensor(
+            [[1, 0, 0],
+            [0, 0, -1],
+            [0, 1, 0]]
+        ).to(p_x_orig.device).to(p_x_orig.dtype)
+        t_viewer = torch.tensor([0, 0, 0]).to(p_x_orig.device).to(p_x_orig.dtype)
+
+        self.preprocess_metadata = {
+            'R': R,
+            'R_viewer': R_viewer,
+            't_viewer': t_viewer,
+            'scale': scale,
+            'global_translation': global_translation,
+        }
+
+    @torch.no_grad
+    def render(self, render_data, cam_id, bg=[0.7, 0.7, 0.7]):
+        render_data = {k: v.to(self.device) for k, v in render_data.items()}
+        w, h = self.metadata['w'], self.metadata['h']
+        k, w2c = self.metadata['k'], self.metadata['w2c']
+        cam = setup_camera(w, h, k, w2c, self.config['near'], self.config['far'], bg)
+        im, _, depth, = GaussianRasterizer(raster_settings=cam)(**render_data)
+        return im, depth
+    
+    def knn_relations(self, bones):
+        k = self.k_rel
+        knn = NearestNeighbors(n_neighbors=k+1, algorithm='kd_tree').fit(bones.detach().cpu().numpy())
+        _, indices = knn.kneighbors(bones.detach().cpu().numpy())  # (N, k)
+        indices = indices[:, 1:]  # exclude self
+        return indices
+    
+    def knn_weights_brute(self, bones, pts):
+        k = self.k_wgt
+        dist = torch.norm(pts[:, None] - bones, dim=-1)  # (n_pts, n_bones)
+        _, indices = torch.topk(dist, k, dim=-1, largest=False)
+        bones_selected = bones[indices]  # (N, k, 3)
+        dist = torch.norm(bones_selected - pts[:, None], dim=-1)  # (N, k)
+        weights = 1 / (dist + 1e-6)
+        weights = weights / weights.sum(dim=-1, keepdim=True)  # (N, k)
+        weights_all = torch.zeros((pts.shape[0], bones.shape[0]), device=pts.device)
+        weights_all[torch.arange(pts.shape[0])[:, None], indices] = weights
+        return weights_all
+    
+    def update_camera(self, k, w2c, w=None, h=None, near=0.01, far=100.0):
+        self.metadata['k'] = k
+        self.metadata['w2c'] = w2c
+        if w is not None:
+            self.metadata['w'] = w
+        if h is not None:
+            self.metadata['h'] = h
+        self.config['near'] = near
+        self.config['far'] = far
+    
+    def init_model(self, batch_size, num_steps, num_particles, ckpt_path=None):
+        self.cfg.sim.num_steps = num_steps
+        cfg = self.cfg
+
+        sim = CacheDiffSimWithFrictionBatch(cfg, num_steps, batch_size, self.wp_device, requires_grad=True)
+
+        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])
+        colliders = CollidersBatch()
+        colliders.init(shape=(batch_size, cfg.sim.num_grippers), device=self.wp_device)
+
+        self.sim = sim
+        self.statics = statics
+        self.colliders = colliders
+        
+        # load ckpt
+        ckpt_path = root / 'log/rope/train/ckpt/100000.pt'
+        ckpt = torch.load(ckpt_path, map_location=self.torch_device)
+        
+        material: nn.Module = PGNDModel(cfg)
+        material.to(self.torch_device)
+        material.load_state_dict(ckpt['material'])
+        material.requires_grad_(False)
+        material.eval()
+        
+        if 'friction' in ckpt:
+            friction = ckpt['friction']['mu'].reshape(-1, 1)
+        else:
+            friction = torch.tensor(cfg.model.friction.value, device=self.torch_device).reshape(-1, 1)
+        
+        self.material = material
+        self.friction = friction
+
+    def reload_model(self, num_steps):  # only change num_steps
+        self.cfg.sim.num_steps = num_steps
+        sim = CacheDiffSimWithFrictionBatch(self.cfg, num_steps, 1, self.wp_device, requires_grad=True)
+        self.sim = sim
+
+    @torch.no_grad
+    def step(self):
+        cfg = self.cfg
+        batch_size = 1
+        num_steps = 1
+        num_particles = cfg.sim.n_particles
+
+        # update state by previous prediction
+        self.state['x_his'] = torch.cat([self.state['x_his'][1:], self.state['x'][None]], dim=0)
+        self.state['v_his'] = torch.cat([self.state['v_his'][1:], self.state['v'][None]], dim=0)
+        self.state['x'] = self.state['x_pred'].clone()
+        self.state['v'] = self.state['v_pred'].clone()
+        
+        eef_xyz_key = self.state['prev_key_pos']  # (1, 3), model frame
+        eef_xyz_sub = self.state['sub_pos']  # (T, 1, 3), model frame
+        
+        if eef_xyz_sub is None:
+            return
+
+        # eef_xyz_key_timestamp = self.state['prev_key_pos_timestamp']
+        # eef_xyz_sub_timestamps = self.state['sub_pos_timestamps']
+        
+        # assert eef_xyz_key_timestamp.item() > 0
+
+        # delta_t = (eef_xyz_sub_timestamps[-1] - eef_xyz_key_timestamp).item()
+
+        # if (not self.high_freq_pred) and delta_t < self.dt_base * 0.9:
+        #     return
+        # cfg.sim.dt = delta_t
+
+        eef_xyz_key_next = eef_xyz_sub[-1]  # (1, 3), model frame
+        eef_v = (eef_xyz_key_next - eef_xyz_key) / cfg.sim.dt
+        if self.verbose:
+            print('delta_t:', np.round(cfg.sim.dt, 4))
+            print('eef_xyz_key_next:', eef_xyz_key_next.cpu().numpy().tolist())
+            print('eef_xyz_key:', eef_xyz_key.cpu().numpy().tolist())
+            print('v:', eef_v.cpu().numpy().tolist())
+
+        # load model, sim, statics, colliders
+        self.reload_model(num_steps)
+        
+        # initialize colliders
+        if cfg.sim.num_grippers > 0:
+            grippers = torch.zeros((batch_size, cfg.sim.num_grippers, 15), device=self.torch_device)
+            eef_quat = torch.tensor([1, 0, 0, 0], dtype=torch.float32, device=self.torch_device).repeat(batch_size, cfg.sim.num_grippers, 1)  # (B, G, 4)
+            eef_quat_vel = torch.zeros((batch_size, cfg.sim.num_grippers, 3), dtype=torch.float32, device=self.torch_device)
+            eef_gripper = torch.zeros((batch_size, cfg.sim.num_grippers), dtype=torch.float32, device=self.torch_device)
+            grippers[:, :, :3] = eef_xyz_key
+            grippers[:, :, 3:6] = eef_v
+            grippers[:, :, 6:10] = eef_quat
+            grippers[:, :, 10:13] = eef_quat_vel
+            grippers[:, :, 13] = cfg.model.gripper_radius
+            grippers[:, :, 14] = eef_gripper
+            self.colliders.initialize_grippers(grippers)
+
+        x = self.state['x'].clone()[None].repeat(batch_size, 1, 1)
+        v = self.state['v'].clone()[None].repeat(batch_size, 1, 1)
+        x_his = self.state['x_his'].permute(1, 0, 2).clone()
+        assert x_his.shape[0] == num_particles
+        x_his = x_his.reshape(num_particles, -1)[None].repeat(batch_size, 1, 1)
+        v_his = self.state['v_his'].permute(1, 0, 2).clone()
+        assert v_his.shape[0] == num_particles
+        v_his = v_his.reshape(num_particles, -1)[None].repeat(batch_size, 1, 1)
+        enabled = self.state['enabled'].clone().to(self.torch_device)[None].repeat(batch_size, 1)
+
+        for t in range(num_steps):
+            x_in = x.clone()
+            pred = self.material(x, v, x_his, v_his, enabled)
+            
+            # x_his = torch.cat([x_his.reshape(batch_size, num_particles, -1, 3)[:, :, 1:], x[:, :, None].detach()], dim=2)
+            # v_his = torch.cat([v_his.reshape(batch_size, num_particles, -1, 3)[:, :, 1:], v[:, :, None].detach()], dim=2)
+            # x_his = x_his.reshape(batch_size, num_particles, -1)
+            # v_his = v_his.reshape(batch_size, num_particles, -1)
+            
+            x, v = self.sim(self.statics, self.colliders, t, x, v, self.friction, pred)
+
+        # calculate new x_pred, v_pred, eef_xyz_key and eef_xyz_sub
+        x_pred = x[0].clone()
+        v_pred = v[0].clone()
+        self.state['x_pred'] = x_pred
+        self.state['v_pred'] = v_pred
+        # self.state['x_his'] = x_his[0].reshape(num_particles, self.cfg.sim.n_history, 3).permute(1, 0, 2).clone()
+        # self.state['v_his'] = v_his[0].reshape(num_particles, self.cfg.sim.n_history, 3).permute(1, 0, 2).clone()
+
+        self.state['prev_key_pos'] = eef_xyz_key_next
+        # self.state['prev_key_pos_timestamp'] = eef_xyz_sub_timestamps[-1]
+        self.state['sub_pos'] = None
+        # self.state['sub_pos_timestamps'] = None
+
+    def preprocess_x(self, p_x):  # viewer frame to model frame (not data frame)
+        R = self.preprocess_metadata['R']
+        R_viewer = self.preprocess_metadata['R_viewer']
+        t_viewer = self.preprocess_metadata['t_viewer']
+        scale = self.preprocess_metadata['scale']
+        global_translation = self.preprocess_metadata['global_translation']
+
+        # viewer frame to model frame
+        p_x = (p_x - t_viewer) @ R_viewer
+
+        # model frame to data frame
+        # p_x -= global_translation
+        # p_x = p_x / scale
+        # p_x = p_x @ torch.linalg.inv(R).T
+
+        return p_x
+    
+    def preprocess_gripper(self, grippers):  # viewer frame to model frame (not data frame)
+        R = self.preprocess_metadata['R']
+        R_viewer = self.preprocess_metadata['R_viewer']
+        t_viewer = self.preprocess_metadata['t_viewer']
+        scale = self.preprocess_metadata['scale']
+        global_translation = self.preprocess_metadata['global_translation']
 
-device = "cuda" if torch.cuda.is_available() else "cpu"
-model_repo_id = "stabilityai/sdxl-turbo"  # Replace to the model you would like to use
-
-if torch.cuda.is_available():
-    torch_dtype = torch.float16
-else:
-    torch_dtype = torch.float32
-
-pipe = DiffusionPipeline.from_pretrained(model_repo_id, torch_dtype=torch_dtype)
-pipe = pipe.to(device)
-
-MAX_SEED = np.iinfo(np.int32).max
-MAX_IMAGE_SIZE = 1024
-
-
-# @spaces.GPU #[uncomment to use ZeroGPU]
-def infer(
-    prompt,
-    negative_prompt,
-    seed,
-    randomize_seed,
-    width,
-    height,
-    guidance_scale,
-    num_inference_steps,
-    progress=gr.Progress(track_tqdm=True),
-):
-    if randomize_seed:
-        seed = random.randint(0, MAX_SEED)
-
-    generator = torch.Generator().manual_seed(seed)
-
-    image = pipe(
-        prompt=prompt,
-        negative_prompt=negative_prompt,
-        guidance_scale=guidance_scale,
-        num_inference_steps=num_inference_steps,
-        width=width,
-        height=height,
-        generator=generator,
-    ).images[0]
-
-    return image, seed
-
-
-examples = [
-    "Astronaut in a jungle, cold color palette, muted colors, detailed, 8k",
-    "An astronaut riding a green horse",
-    "A delicious ceviche cheesecake slice",
-]
-
-css = """
-#col-container {
-    margin: 0 auto;
-    max-width: 640px;
-}
-"""
-
-with gr.Blocks(css=css) as demo:
-    with gr.Column(elem_id="col-container"):
-        gr.Markdown(" # Text-to-Image Gradio Template")
-
-        with gr.Row():
-            prompt = gr.Text(
-                label="Prompt",
-                show_label=False,
-                max_lines=1,
-                placeholder="Enter your prompt",
-                container=False,
-            )
-
-            run_button = gr.Button("Run", scale=0, variant="primary")
-
-        result = gr.Image(label="Result", show_label=False)
-
-        with gr.Accordion("Advanced Settings", open=False):
-            negative_prompt = gr.Text(
-                label="Negative prompt",
-                max_lines=1,
-                placeholder="Enter a negative prompt",
-                visible=False,
-            )
-
-            seed = gr.Slider(
-                label="Seed",
-                minimum=0,
-                maximum=MAX_SEED,
-                step=1,
-                value=0,
-            )
-
-            randomize_seed = gr.Checkbox(label="Randomize seed", value=True)
+        # viewer frame to model frame
+        grippers[:, :3] = grippers[:, :3] @ R_viewer
+
+        return grippers
+    
+    def inverse_preprocess_x(self, p_x):  # model frame (not data frame) to viewer frame
+        R = self.preprocess_metadata['R']
+        R_viewer = self.preprocess_metadata['R_viewer']
+        t_viewer = self.preprocess_metadata['t_viewer']
+        scale = self.preprocess_metadata['scale']
+        global_translation = self.preprocess_metadata['global_translation']
+
+        # model frame to viewer frame
+        p_x = p_x @ R_viewer.T + t_viewer
+
+        return p_x
+    
+    def inverse_preprocess_gripper(self, grippers):  # model frame (not data frame) to viewer frame
+        R = self.preprocess_metadata['R']
+        R_viewer = self.preprocess_metadata['R_viewer']
+        t_viewer = self.preprocess_metadata['t_viewer']
+        scale = self.preprocess_metadata['scale']
+        global_translation = self.preprocess_metadata['global_translation']
+
+        # model frame to viewer frame
+        grippers[:, :3] = grippers[:, :3] @ R_viewer.T + t_viewer
+
+        return grippers
+
+    def preprocess_gs(self, params):
+        if isinstance(params, dict):
+            xyz = params['means3D']
+            rgb = params['rgb_colors']
+            quat = torch.nn.functional.normalize(params['unnorm_rotations'])
+            opa = torch.sigmoid(params['logit_opacities'])
+            scales = torch.exp(params['log_scales'])
+        else:
+            assert isinstance(params, tuple)
+            xyz, rgb, quat, opa, scales = params
+        
+        quat = torch.nn.functional.normalize(quat, dim=-1)
+
+        # transform
+        R = self.preprocess_metadata['R']
+        R_viewer = self.preprocess_metadata['R_viewer']
+        scale = self.preprocess_metadata['scale']
+        global_translation = self.preprocess_metadata['global_translation']
+
+        mat = quat2mat(quat)
+        mat = R @ mat
+        xyz = xyz @ R.T
+        xyz = xyz * scale
+        xyz += global_translation
+        quat = mat2quat(mat)
+        scales = scales * scale
+
+        # viewer-specific transform (flip y and z)
+        # model frame to viewer frame
+        xyz = xyz @ R_viewer.T
+        quat = mat2quat(R_viewer @ quat2mat(quat))
+
+        t_viewer = -xyz.mean(dim=0)
+        t_viewer[2] = 0
+        xyz += t_viewer
+        print('Overwriting t_viewer to be the planar mean of the object')
+        self.preprocess_metadata['t_viewer'] = t_viewer
+
+        if isinstance(params, dict):
+            params['means3D'] = xyz
+            params['rgb_colors'] = rgb
+            params['unnorm_rotations'] = quat
+            params['logit_opacities'] = opa
+            params['log_scales'] = torch.log(scales)
+        else:
+            params = xyz, rgb, quat, opa, scales
+        
+        return params
+
+    def preprocess_gs(self, params):
+        if isinstance(params, dict):
+            xyz = params['means3D']
+            rgb = params['rgb_colors']
+            quat = torch.nn.functional.normalize(params['unnorm_rotations'])
+            opa = torch.sigmoid(params['logit_opacities'])
+            scales = torch.exp(params['log_scales'])
+        else:
+            assert isinstance(params, tuple)
+            xyz, rgb, quat, opa, scales = params
+        
+        quat = torch.nn.functional.normalize(quat, dim=-1)
+
+        # transform
+        R = self.preprocess_metadata['R']
+        R_viewer = self.preprocess_metadata['R_viewer']
+        scale = self.preprocess_metadata['scale']
+        global_translation = self.preprocess_metadata['global_translation']
+
+        mat = quat2mat(quat)
+        mat = R @ mat
+        xyz = xyz @ R.T
+        xyz = xyz * scale
+        xyz += global_translation
+        quat = mat2quat(mat)
+        scales = scales * scale
+
+        # viewer-specific transform (flip y and z)
+        # model frame to viewer frame
+        xyz = xyz @ R_viewer.T
+        quat = mat2quat(R_viewer @ quat2mat(quat))
+
+        t_viewer = -xyz.mean(dim=0)
+        t_viewer[2] = 0
+        xyz += t_viewer
+        print('Overwriting t_viewer to be the planar mean of the object')
+        self.preprocess_metadata['t_viewer'] = t_viewer
+
+        if isinstance(params, dict):
+            params['means3D'] = xyz
+            params['rgb_colors'] = rgb
+            params['unnorm_rotations'] = quat
+            params['logit_opacities'] = opa
+            params['log_scales'] = torch.log(scales)
+        else:
+            params = xyz, rgb, quat, opa, scales
+        
+        return params
+    
+    def preprocess_bg_gs(self):
+        t_pts, t_colors, t_scales, t_quats, t_opacities = self.table_params
+        g_pts, g_colors, g_scales, g_quats, g_opacities = self.gripper_params
+        
+        # identify tip first
+        g_pts_tip_z = g_pts[:, 2].max()
+        g_pts_tip_mask = (g_pts[:, 2] > g_pts_tip_z - 0.04) & (g_pts[:, 2] < g_pts_tip_z)
+        
+        R = self.preprocess_metadata['R']
+        R_viewer = self.preprocess_metadata['R_viewer']
+        t_viewer = self.preprocess_metadata['t_viewer']
+        scale = self.preprocess_metadata['scale']
+        global_translation = self.preprocess_metadata['global_translation']
+
+        t_mat = quat2mat(t_quats)
+        t_mat = R @ t_mat
+        t_pts = t_pts @ R.T
+        t_pts = t_pts * scale
+        t_pts += global_translation
+        t_quats = mat2quat(t_mat)
+        t_scales = t_scales * scale
+
+        t_pts = t_pts @ R_viewer.T
+        t_quats = mat2quat(R_viewer @ quat2mat(t_quats))
+        t_pts += t_viewer
+
+        g_mat = quat2mat(g_quats)
+        g_mat = R @ g_mat
+        g_pts = g_pts @ R.T
+        g_pts = g_pts * scale
+        g_pts += global_translation
+        g_quats = mat2quat(g_mat)
+        g_scales = g_scales * scale
+        
+        g_pts = g_pts @ R_viewer.T
+        g_quats = mat2quat(R_viewer @ quat2mat(g_quats))
+        g_pts += t_viewer
+
+        # TODO: center gripper in the viewer frame
+        g_pts_tip = g_pts[g_pts_tip_mask]
+        g_pts_tip_mean_xy = g_pts_tip[:, :2].mean(dim=0)
+        g_pts_translation = torch.tensor([-g_pts_tip_mean_xy[0], -g_pts_tip_mean_xy[1], -0.23]).to(torch.float32).to(self.device)
+        g_pts = g_pts + g_pts_translation
+
+        self.table_params = t_pts, t_colors, t_scales, t_quats, t_opacities
+        self.gripper_params = g_pts, g_colors, g_scales, g_quats, g_opacities
+
+    def update_rendervar(self, rendervar):
+        p_x = self.state['x']
+        p_x_viewer = self.inverse_preprocess_x(p_x)
+
+        p_x_pred = self.state['x_pred']
+        p_x_pred_viewer = self.inverse_preprocess_x(p_x_pred)
+
+        xyz = rendervar['means3D']
+        rgb = rendervar['colors_precomp']
+        quat = rendervar['rotations']
+        opa = rendervar['opacities']
+        scales = rendervar['scales']
+
+        relations = self.knn_relations(p_x_viewer)
+        weights = self.knn_weights_brute(p_x_viewer, xyz)
+        xyz, quat, _ = interpolate_motions(
+            bones=p_x_viewer,
+            motions=p_x_pred_viewer - p_x_viewer,
+            relations=relations,
+            weights=weights,
+            xyz=xyz,
+            quat=quat,
+        )
+
+        # normalize
+        quat = torch.nn.functional.normalize(quat, dim=-1)
+
+        rendervar = {
+            'means3D': xyz,
+            'colors_precomp': rgb,
+            'rotations': quat,
+            'opacities': opa,
+            'scales': scales,
+            'means2D': torch.zeros_like(xyz),
+        }
+
+        if self.with_bg:
+            t_pts, t_colors, t_scales, t_quats, t_opacities = self.table_params
+            
+            # merge
+            xyz = torch.cat([xyz, t_pts], dim=0)
+            rgb = torch.cat([rgb, t_colors], dim=0)
+            quat = torch.cat([quat, t_quats], dim=0)
+            opa = torch.cat([opa, t_opacities], dim=0)
+            scales = torch.cat([scales, t_scales], dim=0)
+
+            if self.render_gripper:
+                g_pts, g_colors, g_scales, g_quats, g_opacities = self.gripper_params
+
+                # add gripper pos
+                g_pts = g_pts + self.inverse_preprocess_gripper(self.state['prev_key_pos'][None].clone())[0]
+                
+                # merge
+                xyz = torch.cat([xyz, g_pts], dim=0)
+                rgb = torch.cat([rgb, g_colors], dim=0)
+                quat = torch.cat([quat, g_quats], dim=0)
+                opa = torch.cat([opa, g_opacities], dim=0)
+                scales = torch.cat([scales, g_scales], dim=0)
+
+            # normalize
+            quat = torch.nn.functional.normalize(quat, dim=-1)
+
+            rendervar_full = {
+                'means3D': xyz,
+                'colors_precomp': rgb,
+                'rotations': quat,
+                'opacities': opa,
+                'scales': scales,
+                'means2D': torch.zeros_like(xyz),
+            }
+        
+        else:
+            rendervar_full = rendervar
+
+        return rendervar, rendervar_full
+
+    def reset_state(self, params, visualize_image=False, init=False):
+        xyz_0 = params['means3D']
+        rgb_0 = params['rgb_colors']
+        quat_0 = torch.nn.functional.normalize(params['unnorm_rotations'])
+        opa_0 = torch.sigmoid(params['logit_opacities'])
+        scales_0 = torch.exp(params['log_scales'])
+
+        rendervar_init = {
+            'means3D': xyz_0,  
+            'colors_precomp': rgb_0,
+            'rotations': quat_0,
+            'opacities': opa_0,
+            'scales': scales_0,
+            'means2D': torch.zeros_like(xyz_0),
+        }  # before preprocess
+
+        w = self.width
+        h = self.height
+        center = (0, 0, 0.1)
+        distance = 0.7
+        elevation = 20
+        azimuth = 180.0
+        target = np.array(center)
+        theta = 90 + azimuth
+        z = distance * math.sin(math.radians(elevation))
+        y = math.cos(math.radians(theta)) * distance * math.cos(math.radians(elevation))
+        x = math.sin(math.radians(theta)) * distance * math.cos(math.radians(elevation))
+        origin = target + np.array([x, y, z])
+        
+        look_at = target - origin
+        look_at /= np.linalg.norm(look_at)
+        up = np.array([0.0, 0.0, 1.0])
+        right = np.cross(look_at, up)
+        right /= np.linalg.norm(right)
+        up = np.cross(right, look_at)
+        w2c = np.eye(4)
+        w2c[:3, 0] = right
+        w2c[:3, 1] = -up
+        w2c[:3, 2] = look_at
+        w2c[:3, 3] = origin
+        w2c = np.linalg.inv(w2c)
+
+        k = np.array(
+            [[w / 2 * 1.0, 0., w / 2],
+            [0., w / 2 * 1.0, h / 2],
+            [0., 0., 1.]],
+        )
+        self.update_camera(k, w2c, w, h)
+
+        n_particles = self.cfg.sim.n_particles
+        downsample_indices = fps(xyz_0, torch.ones_like(xyz_0[:, 0]).to(torch.bool), n_particles, self.torch_device)
+        p_x_viewer = xyz_0[downsample_indices]
+        p_x = self.preprocess_x(p_x_viewer)
+
+        self.state['x'] = p_x
+        self.state['v'] = torch.zeros_like(p_x)
+        self.state['x_his'] = p_x[None].repeat(self.cfg.sim.n_history, 1, 1)
+        self.state['v_his'] = torch.zeros_like(p_x[None].repeat(self.cfg.sim.n_history, 1, 1))
+        self.state['x_pred'] = p_x
+        self.state['v_pred'] = torch.zeros_like(p_x)
+
+        rendervar_init, rendervar_init_full = self.update_rendervar(rendervar_init)
+        im, depth = self.render(rendervar_init_full, 0, bg=[0.0, 0.0, 0.0])
+        im_vis = (im.permute(1, 2, 0) * 255.0).cpu().numpy().astype(np.uint8)
+
+        return rendervar_init
+
+
+
+
+
+
+
+    def reset(self):
+        params = self.preprocess_gs(self.params)
+        if self.with_bg:
+            self.preprocess_bg_gs()
+        rendervar = self.reset_state(params, visualize_image=False, init=True)
+        rendervar, rendervar_full = self.update_rendervar(rendervar)
+        self.rendervar = rendervar
+
+        im, depth = self.render(rendervar_full, 0, bg=[0.0, 0.0, 0.0])
+        im_show = (im.permute(1, 2, 0) * 255.0).cpu().numpy().astype(np.uint8).copy()
+
+        cv2.imwrite(str(root / 'log/temp_init/0000.png'), cv2.cvtColor(im_show, cv2.COLOR_RGB2BGR))
+
+        make_video(root / 'log/temp_init', root / f'log/gs/temp/form_video_init.mp4', '%04d.png', 1)
+
+        gs_pred = save_to_splat(
+            rendervar_full['means3D'].cpu().numpy(),
+            rendervar_full['colors_precomp'].cpu().numpy(),
+            rendervar_full['scales'].cpu().numpy(),
+            rendervar_full['rotations'].cpu().numpy(),
+            rendervar_full['opacities'].cpu().numpy(),
+            root / 'log/gs/temp/gs_pred.splat',
+            rot_rev=True,
+        )
+
+        form_video = gr.Video(
+            label='Predicted video',
+            value=root / f'log/gs/temp/form_video.mp4',
+            format='mp4',
+            width=self.width,
+            height=self.height,
+        )
+        form_3dgs_pred = gr.Model3D(
+            label='Predicted Gaussian Splats',
+            height=self.height,
+            value=root / 'log/gs/temp/gs_pred.splat',
+            clear_color=[0, 0, 0, 0],
+        )
+
+        return form_video, form_3dgs_pred
+
+    def run_command(self, unit_command):
+
+        os.system('rm -rf ' + str(root / 'log/temp/*'))
+
+        # im_list = []
+        for i in range(15):
+            dt = 0.1  # 100ms
+            command = torch.tensor([unit_command]).to(self.device).to(torch.float32)  # 5cm/s
+            command = self.preprocess_gripper(command)
+            # command_timestamp = torch.tensor([self.state['prev_key_pos_timestamp'] + (i+1) * dt]).to(self.device).to(torch.float32)
+            # print(command_timestamp)
+            if self.verbose:
+                print('command:', command.cpu().numpy().tolist())
+            
+            assert self.state['sub_pos'] is None
+
+            if self.state['sub_pos'] is None:
+                eef_xyz_latest = self.state['prev_key_pos']
+                # eef_xyz_timestamp_latest = self.state['prev_key_pos_timestamp']
+            
+            else:
+                eef_xyz_latest = self.state['sub_pos'][-1]  # (1, 3), model frame
+                # eef_xyz_timestamp_latest = self.state['sub_pos_timestamps'][-1].item()
+
+            eef_xyz_updated = eef_xyz_latest + command * dt * 0.01  # cm to m
+
+            if self.state['sub_pos'] is None:
+                self.state['sub_pos'] = eef_xyz_updated[None]
+                # self.state['sub_pos_timestamps'] = command_timestamp
+            else:
+                self.state['sub_pos'] = torch.cat([self.state['sub_pos'], eef_xyz_updated[None]], dim=0)
+                # self.state['sub_pos_timestamps'] = torch.cat([self.state['sub_pos_timestamps'], command_timestamp], dim=0)
+        
+            # if self.state['sub_pos'] is None:
+            #     eef_xyz = self.state['prev_key_pos']
+            # else:
+            #     eef_xyz = self.state['sub_pos'][-1]  # (1, 3), model frame
+            # if self.verbose:
+            #     print(eef_xyz.cpu().numpy().tolist(), end=' ')
+
+            self.step()
+            rendervar, rendervar_full = self.update_rendervar(self.rendervar)
+            self.rendervar = rendervar
+            im, depth = self.render(rendervar_full, 0, bg=[0.0, 0.0, 0.0])
+            im_show = (im.permute(1, 2, 0) * 255.0).cpu().numpy().astype(np.uint8).copy()
+
+            # im_list.append(im_show)
+            cv2.imwrite(str(root / f'log/temp/{i:04}.png'), cv2.cvtColor(im_show, cv2.COLOR_RGB2BGR))
+
+        # self.state['prev_key_pos_timestamp'] = self.state['prev_key_pos_timestamp'] + 20 * dt
+        self.state['v'] *= 0.0
+        self.state['x'] = self.state['x_pred'].clone()
+        self.state['x_his'] = self.state['x'][None].repeat(self.cfg.sim.n_history, 1, 1)
+        self.state['v_his'] *= 0.0
+        self.state['v_pred'] *= 0.0
+
+        make_video(root / 'log/temp', root / f'log/gs/temp/form_video.mp4', '%04d.png', 5)
+
+        form_video = gr.Video(
+            label='Predicted video',
+            value=root / f'log/gs/temp/form_video.mp4',
+            format='mp4',
+            width=self.width,
+            height=self.height,
+        )
+
+        im, depth = self.render(rendervar_full, 0, bg=[0.0, 0.0, 0.0])
+        im_show = (im.permute(1, 2, 0) * 255.0).cpu().numpy().astype(np.uint8).copy()
+
+        gs_pred = save_to_splat(
+            rendervar_full['means3D'].cpu().numpy(),
+            rendervar_full['colors_precomp'].cpu().numpy(),
+            rendervar_full['scales'].cpu().numpy(),
+            rendervar_full['rotations'].cpu().numpy(),
+            rendervar_full['opacities'].cpu().numpy(),
+            root / 'log/gs/temp/gs_pred.splat',
+            rot_rev=True,
+        )
+        form_3dgs_pred = gr.Model3D(
+            label='Predicted Gaussian Splats',
+            height=self.height,
+            value=root / 'log/gs/temp/gs_pred.splat',
+            clear_color=[0, 0, 0, 0],
+        )
+        return form_video, form_3dgs_pred
+    
+    def on_click_run_xplus(self):
+        return self.run_command([5.0, 0, 0])
+
+    def on_click_run_xminus(self):
+        return self.run_command([-5.0, 0, 0])
+    
+    def on_click_run_yplus(self):
+        return self.run_command([0, 5.0, 0])
+    
+    def on_click_run_yminus(self):
+        return self.run_command([0, -5.0, 0])
+    
+    def on_click_run_zplus(self):
+        return self.run_command([0, 0, 5.0])
+    
+    def on_click_run_zminus(self):
+        return self.run_command([0, 0, -5.0])
+    
+    def rotate(self, params, rot_mat):
+        scale = np.linalg.norm(rot_mat, axis=1, keepdims=True)
+        
+        params = {
+            'means3D': pts,
+            'rgb_colors': params['rgb_colors'],
+            'log_scales': params['log_scales'],
+            'unnorm_rotations': quats,
+            'logit_opacities': params['logit_opacities'],
+        }
+        return params
+
+    def launch(self, share=False):
+
+        in_dir = root / 'log/gs/ckpts/rope_scene_1'
+        batch_size = 1
+        num_steps = 1
+        num_particles = self.cfg.sim.n_particles
+        self.load_scaniverse(in_dir)
+        self.init_model(batch_size, num_steps, num_particles, ckpt_path=None)
+
+        params = self.preprocess_gs(self.params)
+        if self.with_bg:
+            self.preprocess_bg_gs()
+        rendervar = self.reset_state(params, visualize_image=False, init=True)
+        rendervar, rendervar_full = self.update_rendervar(rendervar)
+        self.rendervar = rendervar
+
+        im, depth = self.render(rendervar_full, 0, bg=[0.0, 0.0, 0.0])
+        im_show = (im.permute(1, 2, 0) * 255.0).cpu().numpy().astype(np.uint8).copy()
+
+        cv2.imwrite(str(root / 'log/temp_init/0000.png'), cv2.cvtColor(im_show, cv2.COLOR_RGB2BGR))
+
+        make_video(root / 'log/temp_init', root / f'log/gs/temp/form_video_init.mp4', '%04d.png', 1)
+
+        gs_pred = save_to_splat(
+            rendervar_full['means3D'].cpu().numpy(),
+            rendervar_full['colors_precomp'].cpu().numpy(),
+            rendervar_full['scales'].cpu().numpy(),
+            rendervar_full['rotations'].cpu().numpy(),
+            rendervar_full['opacities'].cpu().numpy(),
+            root / 'log/gs/temp/gs_pred.splat',
+            rot_rev=True,
+        )
+
+        with gr.Blocks() as app:
+
+            with gr.Row():
+                gr.Markdown("# Particle-Grid Neural Dynamics for Learning Deformable Object Models from RGB-D Videos")
+
+            with gr.Row():
+                gr.Markdown('### Project page: [https://kywind.github.io/pgnd](https://kywind.github.io/pgnd)')
 
             with gr.Row():
-                width = gr.Slider(
-                    label="Width",
-                    minimum=256,
-                    maximum=MAX_IMAGE_SIZE,
-                    step=32,
-                    value=1024,  # Replace with defaults that work for your model
-                )
-
-                height = gr.Slider(
-                    label="Height",
-                    minimum=256,
-                    maximum=MAX_IMAGE_SIZE,
-                    step=32,
-                    value=1024,  # Replace with defaults that work for your model
-                )
+                
+                # with gr.Column(scale=2):
+                #     form_3dgs_orig = gr.Model3D(
+                #         label='Original Gaussian Splats',
+                #         value=None,
+                #     )
+                
+                with gr.Column(scale=2):
+                    form_video = gr.Video(
+                        label='Predicted video',
+                        value=root / f'log/gs/temp/form_video_init.mp4',
+                        format='mp4',
+                        width=self.width,
+                        height=self.height,
+                    )
+                
+                with gr.Column(scale=2):
+                    form_3dgs_pred = gr.Model3D(
+                        label='Predicted Gaussians',
+                        height=self.height,
+                        value=root / 'log/gs/temp/gs_pred.splat',
+                        clear_color=[0, 0, 0, 0],
+                    )
 
+            # Layout
             with gr.Row():
-                guidance_scale = gr.Slider(
-                    label="Guidance scale",
-                    minimum=0.0,
-                    maximum=10.0,
-                    step=0.1,
-                    value=0.0,  # Replace with defaults that work for your model
-                )
-
-                num_inference_steps = gr.Slider(
-                    label="Number of inference steps",
-                    minimum=1,
-                    maximum=50,
-                    step=1,
-                    value=2,  # Replace with defaults that work for your model
-                )
-
-        gr.Examples(examples=examples, inputs=[prompt])
-    gr.on(
-        triggers=[run_button.click, prompt.submit],
-        fn=infer,
-        inputs=[
-            prompt,
-            negative_prompt,
-            seed,
-            randomize_seed,
-            width,
-            height,
-            guidance_scale,
-            num_inference_steps,
-        ],
-        outputs=[result, seed],
-    )
-
-if __name__ == "__main__":
-    demo.launch()
+                with gr.Column(scale=2):
+                    with gr.Row():
+                        run_reset = gr.Button("Reset")
+
+                    with gr.Row():
+                        with gr.Column():
+                            run_xminus = gr.Button("x-")
+                        with gr.Column():
+                            run_xplus = gr.Button("x+")
+
+                    with gr.Row():
+                        with gr.Column():
+                            run_yminus = gr.Button("y-")
+                        with gr.Column():
+                            run_yplus = gr.Button("y+")
+
+                    with gr.Row():
+                        with gr.Column():
+                            run_zminus = gr.Button("z-")
+                        with gr.Column():
+                            run_zplus = gr.Button("z+")
+                
+                with gr.Column(scale=2):
+                    _ = gr.Button(visible=False)  # empty placeholder
+
+            # Set up callbacks
+            run_reset.click(self.reset,
+                    inputs=[],
+                    outputs=[form_video, form_3dgs_pred])
+            
+            run_xplus.click(self.on_click_run_xplus,
+                    inputs=[],
+                    outputs=[form_video, form_3dgs_pred])
+            
+            run_xminus.click(self.on_click_run_xminus,
+                    inputs=[],
+                    outputs=[form_video, form_3dgs_pred])
+            
+            run_yplus.click(self.on_click_run_yplus,
+                    inputs=[],
+                    outputs=[form_video, form_3dgs_pred])
+            
+            run_yminus.click(self.on_click_run_yminus,
+                    inputs=[],
+                    outputs=[form_video, form_3dgs_pred])
+            
+            run_zplus.click(self.on_click_run_zplus,
+                    inputs=[],
+                    outputs=[form_video, form_3dgs_pred])
+
+            run_zminus.click(self.on_click_run_zminus,
+                    inputs=[],
+                    outputs=[form_video, form_3dgs_pred])
+
+        app.launch(share=share)
+
+
+if __name__ == '__main__':
+    visualizer = DynamicsVisualizer()
+    visualizer.launch(share=True)

gradio_utils.py

@@ -0,0 +1,155 @@
+import gradio as gr
+import numpy as np
+from PIL import Image, ImageDraw
+
+
+def get_valid_mask(mask: np.ndarray):
+    """Convert mask from gr.Image(0 to 255, RGBA) to binary mask.
+    """
+    if mask.ndim == 3:
+        mask_pil = Image.fromarray(mask).convert('L')
+        mask = np.array(mask_pil)
+    if mask.max() == 255:
+        mask = mask / 255
+    return mask
+
+
+def draw_points_on_image(image, points, intr, extr, z, radius_scale=0.006):
+    overlay_rgba = Image.new("RGBA", image.size, 0)
+    overlay_draw = ImageDraw.Draw(overlay_rgba)
+    for point_key, point in points.items():
+
+        t_color = (255, 100, 100)
+        o_color = (255, 50, 50)
+
+        rad_draw = int(image.size[0] * radius_scale) + 2
+
+        p_start = point["start"]
+        p_target = point["target"]
+
+        if p_start is not None and p_target is not None:
+            p_draw = int(p_start[0]), int(p_start[1])
+            t_draw = int(p_target[0]), int(p_target[1])
+
+            pt = (p_target[0] - p_start[0], p_target[1] - p_start[1])
+            pt_norm = np.linalg.norm(pt)
+            pt_unit = (pt[0] / pt_norm, pt[1] / pt_norm)
+            pt_tang = (pt_unit[1], -pt_unit[0])
+            tt1 = (t_draw[0] + pt_tang[0] * 0.1 * pt_norm - pt_unit[0] * 0.1 * pt_norm,
+                   t_draw[1] + pt_tang[1] * 0.1 * pt_norm - pt_unit[1] * 0.1 * pt_norm)
+            tt2 = (t_draw[0] - pt_tang[0] * 0.1 * pt_norm - pt_unit[0] * 0.1 * pt_norm,
+                   t_draw[1] - pt_tang[1] * 0.1 * pt_norm - pt_unit[1] * 0.1 * pt_norm)
+            tt1_draw = int(tt1[0]), int(tt1[1])
+            tt2_draw = int(tt2[0]), int(tt2[1])
+
+            overlay_draw.line(
+                (p_draw[0], p_draw[1], t_draw[0], t_draw[1]),
+                fill=o_color,
+                width=4,
+            )
+            
+            overlay_draw.line(
+                (t_draw[0], t_draw[1], tt1_draw[0], tt1_draw[1]),
+                fill=o_color,
+                width=4,
+            )
+
+            overlay_draw.line(
+                (t_draw[0], t_draw[1], tt2_draw[0], tt2_draw[1]),
+                fill=o_color,
+                width=4,
+            )
+
+        if p_start is not None:
+            p_draw = int(p_start[0]), int(p_start[1])
+            overlay_draw.ellipse(
+                (
+                    p_draw[0] - rad_draw,
+                    p_draw[1] - rad_draw,
+                    p_draw[0] + rad_draw,
+                    p_draw[1] + rad_draw,
+                ),
+                fill=t_color,
+                outline=o_color,
+                width=2,
+            )
+
+        if p_target is not None:
+            assert p_start is not None
+
+    return Image.alpha_composite(image.convert("RGBA"),
+                                 overlay_rgba).convert("RGB")
+
+
+def draw_raw_points_on_image(image,
+                             points,
+                             # curr_point=None,
+                             # highlight_all=True,
+                             radius_scale=0.002):
+    overlay_rgba = Image.new("RGBA", image.size, 0)
+    overlay_draw = ImageDraw.Draw(overlay_rgba)
+    for p in range(points.shape[0]):
+        point = points[p]
+        t_color = (150, 150, 255)
+        o_color = (50, 50, 255)
+
+        rad_draw = int(image.size[0] * radius_scale)
+
+        t_draw = int(point[0]), int(point[1])
+        overlay_draw.ellipse(
+            (
+                t_draw[0] - rad_draw,
+                t_draw[1] - rad_draw,
+                t_draw[0] + rad_draw,
+                t_draw[1] + rad_draw,
+            ),
+            fill=t_color,
+            outline=o_color,
+        )
+    return Image.alpha_composite(image.convert("RGBA"),
+                                 overlay_rgba).convert("RGB")
+
+
+def draw_mask_on_image(image, mask):
+    im_mask = np.uint8(mask * 255)
+    im_mask_rgba = np.concatenate(
+        (
+            np.tile(im_mask[..., None], [1, 1, 3]),
+            45 * np.ones(
+                (im_mask.shape[0], im_mask.shape[1], 1), dtype=np.uint8),
+        ),
+        axis=-1,
+    )
+    im_mask_rgba = Image.fromarray(im_mask_rgba).convert("RGBA")
+
+    return Image.alpha_composite(image.convert("RGBA"),
+                                 im_mask_rgba).convert("RGB")
+
+
+def on_change_single_global_state(keys,
+                                  value,
+                                  global_state,
+                                  map_transform=None):
+    if map_transform is not None:
+        value = map_transform(value)
+
+    curr_state = global_state
+    if isinstance(keys, str):
+        last_key = keys
+
+    else:
+        for k in keys[:-1]:
+            curr_state = curr_state[k]
+
+        last_key = keys[-1]
+
+    curr_state[last_key] = value
+    return global_state
+
+
+def get_latest_points_pair(points_dict):
+    if not points_dict:
+        return None
+    point_idx = list(points_dict.keys())
+    latest_point_idx = max(point_idx)
+    return latest_point_idx

requirements.txt

@@ -1,6 +1,25 @@
-accelerate
-diffusers
-invisible_watermark
-torch
+warp-lang==1.1.0
+trimesh
+pyyaml
+numpy==1.26.4
+scipy
 transformers
-xformers
+scikit-learn
+scikit-image
+pyvista
+opencv-contrib-python
+open3d
+moviepy
+matplotlib
+kornia
+ipdb
+h5py
+gradio
+ffmpeg
+einops
+dill
+av
+timm
+omegaconf
+hydra-core
+wandb

src/.gitignore

@@ -0,0 +1,213 @@
+## Mac OS
+
+# General
+.DS_Store
+.AppleDouble
+.LSOverride
+
+# Icon must end with two \r
+Icon
+
+# Thumbnails
+._*
+
+# Files that might appear in the root of a volume
+.DocumentRevisions-V100
+.fseventsd
+.Spotlight-V100
+.TemporaryItems
+.Trashes
+.VolumeIcon.icns
+.com.apple.timemachine.donotpresent
+
+# Directories potentially created on remote AFP share
+.AppleDB
+.AppleDesktop
+Network Trash Folder
+Temporary Items
+.apdisk
+
+## Vim
+
+# Swap
+[._]*.s[a-v][a-z]
+!*.svg  # comment out if you don't need vector files
+[._]*.sw[a-p]
+[._]s[a-rt-v][a-z]
+[._]ss[a-gi-z]
+[._]sw[a-p]
+
+# Session
+Session.vim
+Sessionx.vim
+
+# Temporary
+.netrwhist
+*~
+# Auto-generated tag files
+tags
+# Persistent undo
+[._]*.un~
+
+## Linux
+
+*~
+
+# temporary files which can be created if a process still has a handle open of a deleted file
+.fuse_hidden*
+
+# KDE directory preferences
+.directory
+
+# Linux trash folder which might appear on any partition or disk
+.Trash-*
+
+# .nfs files are created when an open file is removed but is still being accessed
+.nfs*
+
+## Python
+
+# Byte-compiled / optimized / DLL files
+__pycache__/
+*.py[cod]
+*$py.class
+
+# C extensions
+*.so
+
+# Distribution / packaging
+.Python
+build/
+develop-eggs/
+dist/
+downloads/
+eggs/
+.eggs/
+lib/
+lib64/
+parts/
+sdist/
+var/
+wheels/
+pip-wheel-metadata/
+share/python-wheels/
+*.egg-info/
+.installed.cfg
+*.egg
+MANIFEST
+
+# PyInstaller
+#  Usually these files are written by a python script from a template
+#  before PyInstaller builds the exe, so as to inject date/other infos into it.
+*.manifest
+*.spec
+
+# Installer logs
+pip-log.txt
+pip-delete-this-directory.txt
+
+# Unit test / coverage reports
+htmlcov/
+.tox/
+.nox/
+.coverage
+.coverage.*
+.cache
+nosetests.xml
+coverage.xml
+*.cover
+*.py,cover
+.hypothesis/
+.pytest_cache/
+
+# Translations
+*.mo
+*.pot
+
+# Django stuff:
+*.log
+local_settings.py
+db.sqlite3
+db.sqlite3-journal
+
+# Flask stuff:
+instance/
+.webassets-cache
+
+# Scrapy stuff:
+.scrapy
+
+# Sphinx documentation
+docs/_build/
+
+# PyBuilder
+target/
+
+# Jupyter Notebook
+.ipynb_checkpoints
+
+# IPython
+profile_default/
+ipython_config.py
+
+# pyenv
+.python-version
+
+# pipenv
+#   According to pypa/pipenv#598, it is recommended to include Pipfile.lock in version control.
+#   However, in case of collaboration, if having platform-specific dependencies or dependencies
+#   having no cross-platform support, pipenv may install dependencies that don't work, or not
+#   install all needed dependencies.
+#Pipfile.lock
+
+# PEP 582; used by e.g. github.com/David-OConnor/pyflow
+__pypackages__/
+
+# Celery stuff
+celerybeat-schedule
+celerybeat.pid
+
+# SageMath parsed files
+*.sage.py
+
+# Environments
+.env
+.venv
+# env/
+venv/
+ENV/
+env.bak/
+venv.bak/
+
+# Spyder project settings
+.spyderproject
+.spyproject
+
+# Rope project settings
+.ropeproject
+
+# mkdocs documentation
+/site
+
+# mypy
+.mypy_cache/
+.dmypy.json
+dmypy.json
+
+# Pyre type checker
+.pyre/
+
+## VS Code
+/.vscode
+
+## wandb
+/wandb
+
+## gradio
+.gradio
+
+# log/
+# weights/
+
+/third-party/*
+!/third-party/diff-gaussian-rasterization-w-depth

src/LICENSE

@@ -0,0 +1,7 @@
+Copyright (c) 2011-2024 GitHub Inc.
+
+Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.

src/experiments/assets/robots/xarm7/meshes/collision/link1.obj.convex.stl

@@ -0,0 +1,2194 @@
+solid AssimpScene
+ facet normal 0 0 0
+  outer loop
+  vertex 0.0391638689 0.0752897337 -0.0268567614
+  vertex 0.0324796103 0.0752897337 -0.0346534885
+  vertex 0.0149216605 0.0752897337 -0.0450904183
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
+  vertex 0.0391638689 0.0752897337 -0.0268567614
+  vertex 0.0149216605 0.0752897337 -0.0450904183
+  vertex 0.00487645017 0.0752897337 -0.047244519
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
+  vertex 0.0391638689 0.0752897337 -0.0268567614
+  vertex 0.00487645017 0.0752897337 -0.047244519
+  vertex -0.0154022705 0.0752897337 -0.0449283794
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
+  vertex 0.0391638689 0.0752897337 -0.0268567614
+  vertex -0.0154022705 0.0752897337 -0.0449283794
+  vertex -0.0328472406 0.0752897337 -0.034300819
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
+  vertex 0.0391638689 0.0752897337 -0.0268567614
+  vertex -0.0328472406 0.0752897337 -0.034300819
+  vertex -0.0394561887 0.0752897337 -0.0264373813
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
+  vertex 0.0391638689 0.0752897337 -0.0268567614
+  vertex -0.0394561887 0.0752897337 -0.0264373813
+  vertex -0.0442104824 0.0752897337 -0.0173443798
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
+  vertex 0.0391638689 0.0752897337 -0.0268567614
+  vertex -0.0442104824 0.0752897337 -0.0173443798
+  vertex -0.0469124317 0.0752897337 -0.00743168034
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
+  vertex 0.0391638689 0.0752897337 -0.0268567614
+  vertex -0.0469124317 0.0752897337 -0.00743168034
+  vertex -0.0474114008 0.0752952695 0.00282415003
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
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src/experiments/assets/robots/xarm7/meshes/visual/link_base.glb

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src/experiments/assets/robots/xarm7/xarm7.urdf

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+<?xml version="1.0" encoding="utf-8"?>
+<!--GLB Source: https://github.com/sapien-sim/xarm7/tree/master/sapien_xarm7/xarm_urdf/xarm_description/meshes-->
+<robot name="xarm7">
+  <link name="link_base">
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.021131 -0.0016302 0.056488"/>
+      <mass value="0.88556"/>
+      <inertia ixx="0.0030595" ixy="0.00012259" ixz="-0.00062705" iyy="0.0037783" iyz="0.00027023" izz="0.0020125"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="meshes/visual/link_base.glb"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="meshes/collision/link_base.obj"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+    </collision>
+  </link>
+  <link name="link1">
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.0002 0.02905 -0.01233"/>
+      <mass value="2.382"/>
+      <inertia ixx="0.0056905" ixy="-1.579e-05" ixz="5.125e-06" iyy="0.0049566" iyz="-0.000873378" izz="0.003316654"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="meshes/visual/link1.glb"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="meshes/collision/link1.obj"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+    </collision>
+  </link>
+  <joint name="joint1" type="revolute">
+    <origin rpy="0 0 0" xyz="0 0 0.267"/>
+    <parent link="link_base"/>
+    <child link="link1"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="50" lower="-6.28318530718" upper="6.28318530718" velocity="3.14"/>
+    <dynamics damping="10" friction="1"/>
+  </joint>
+  <link name="link2">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.00022 -0.12856 0.01735"/>
+      <mass value="1.869"/>
+      <inertia ixx="0.0095989" ixy="1.541e-06" ixz="5.56e-06" iyy="0.00382472" iyz="-0.00317156" izz="0.007565669"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="meshes/visual/link2.glb"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="meshes/collision/link2.obj"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+    </collision>
+  </link>
+  <joint name="joint2" type="revolute">
+    <origin rpy="-1.5708 0 0" xyz="0 0 0"/>
+    <parent link="link1"/>
+    <child link="link2"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="50" lower="-2.059" upper="2.0944" velocity="3.14"/>
+    <dynamics damping="10" friction="1"/>
+  </joint>
+  <link name="link3">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0466 -0.02463 -0.00768"/>
+      <mass value="1.6383"/>
+      <inertia ixx="0.00310955" ixy="0.00030837" ixz="-0.00058453" iyy="0.00264483" iyz="0.000338893" izz="0.0026624"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="meshes/visual/link3.glb"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="meshes/collision/link3.obj"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+    </collision>
+  </link>
+  <joint name="joint3" type="revolute">
+    <origin rpy="1.5708 0 0" xyz="0 -0.293 0"/>
+    <parent link="link2"/>
+    <child link="link3"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="30" lower="-6.28318530718" upper="6.28318530718" velocity="3.14"/>
+    <dynamics damping="5" friction="1"/>
+  </joint>
+  <link name="link4">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.07047 -0.11575 0.012"/>
+      <mass value="1.7269"/>
+      <inertia ixx="0.005889" ixy="0.00137112" ixz="0.00088143" iyy="0.00359703" iyz="-0.001762155" izz="0.00543244"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="meshes/visual/link4.glb"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="meshes/collision/link4.obj"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+    </collision>
+  </link>
+  <joint name="joint4" type="revolute">
+    <origin rpy="1.5708 0 0" xyz="0.0525 0 0"/>
+    <parent link="link3"/>
+    <child link="link4"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="30" lower="-0.19198" upper="3.927" velocity="3.14"/>
+    <dynamics damping="5" friction="1"/>
+  </joint>
+  <link name="link5">
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.00032 0.01604 -0.026"/>
+      <mass value="1.3203"/>
+      <inertia ixx="0.00534665" ixy="1.5117e-05" ixz="-3.69e-07" iyy="0.0049779" iyz="-0.00022132" izz="0.0013624"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="meshes/visual/link5.glb"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="meshes/collision/link5.obj"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+    </collision>
+  </link>
+  <joint name="joint5" type="revolute">
+    <origin rpy="1.5708 0 0" xyz="0.0775 -0.3425 0"/>
+    <parent link="link4"/>
+    <child link="link5"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="30" lower="-6.28318530718" upper="6.28318530718" velocity="3.14"/>
+    <dynamics damping="5" friction="1"/>
+  </joint>
+  <link name="link6">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.06469 0.03278 0.02141"/>
+      <mass value="1.325"/>
+      <inertia ixx="0.0014745" ixy="-0.000488" ixz="0.0002953" iyy="0.0019037" iyz="0.00014749" izz="0.0023652"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="meshes/visual/link6.glb"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="meshes/collision/link6.obj"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+    </collision>
+  </link>
+  <joint name="joint6" type="revolute">
+    <origin rpy="1.5708 0 0" xyz="0 0 0"/>
+    <parent link="link5"/>
+    <child link="link6"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="20" lower="-1.69297" upper="3.14159265359" velocity="3.14"/>
+    <dynamics damping="2" friction="1"/>
+  </joint>
+  <link name="link7">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 -0.00677 -0.01098"/>
+      <mass value="0.17"/>
+      <inertia ixx="9.3e-05" ixy="-0.0" ixz="-0.0" iyy="5.87e-05" iyz="-3.6e-06" izz="0.000132"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="meshes/visual/link7.glb"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="meshes/collision/link7.obj"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+    </collision>
+  </link>
+  <joint name="joint7" type="revolute">
+    <origin rpy="-1.5708 0 0" xyz="0.076 0.097 0"/>
+    <parent link="link6"/>
+    <child link="link7"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="20" lower="-6.28318530718" upper="6.28318530718" velocity="3.14"/>
+    <dynamics damping="2" friction="1"/>
+  </joint>
+  <link name="link_eef"/>
+  <joint name="joint_eef" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="link7"/>
+    <child link="link_eef"/>
+  </joint>
+</robot>
+

src/experiments/cfg/default.yaml

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+defaults:
+  - model: pgnd
+  - render: default
+  - sim: default
+  - train: default
+  - _self_
+  - override hydra/job_logging: disabled
+  - override hydra/hydra_logging: disabled
+
+hydra:
+  output_subdir: null
+  run:
+    dir: .
+
+seed: 0
+cpu: 0
+num_cpus: 128
+gpus: 
+  - 0
+overwrite: False
+resume: False
+debug: False

src/experiments/cfg/model/friction/default.yaml

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+value: 0.0
+requires_grad: False

src/experiments/cfg/model/material/pointnet_nerf_material.yaml

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+requires_grad: True
+output_scale: 1.0
+input_scale: 2.0
+radius: 0.2
+absolute_y: False
+pe_num_func_res: 0

src/experiments/cfg/model/pgnd.yaml

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+defaults:
+  - material: pointnet_nerf_material
+  - friction: default
+  - _self_
+
+ckpt: null
+clip_bound: 1.5
+eef_t: [0.0, 0.0, 0.01]
+gripper_radius: 0.04

src/experiments/cfg/render/default.yaml

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+width: 512
+height: 512
+skip_frame: 1
+bound: 1.5
+fps: 5
+radius_scale: 500
+center: [0.5, 0.3, 0.5]
+distance: 1.4
+azimuth: -125
+elevation: 30
+reflectance: [0.92941176, 0.32941176, 0.23137255]

src/experiments/cfg/sim/default.yaml

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+num_steps_train: 5
+num_steps: 1000
+interval: 1
+num_grids: [50, 50, 50, 0.02]
+dt: 0.1
+bound: 3
+eps: 1e-7
+skip_frame: 1
+num_grippers: 1
+preprocess_scale: 1.0
+preprocess_with_table: True
+n_particles: 1000
+gripper_forcing: True
+gripper_points: False
+n_history: 2
+uniform: False

src/experiments/cfg/train/default.yaml

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+name: null
+dataset_name: null
+source_dataset_name: null
+
+num_iterations: 100000
+resume_iteration: 0
+batch_size: 32
+num_workers: 8
+material_lr: 1e-4
+material_wd: 0.0
+material_grad_max_norm: 0.1
+training_start_episode: 0
+training_end_episode: 1000
+eval_start_episode: 0
+eval_end_episode: 10
+iteration_log_interval: 10
+iteration_save_interval: 1000
+iteration_eval_interval: 10000
+loss_factor: 1.0
+loss_factor_v: 0.0
+loss_factor_x: 100.0
+friction_lr: 1e-1
+friction_wd: 0.0
+friction_grad_max_norm: 0.1
+dataset_load_skip_frame: 1
+dataset_skip_frame: 1
+downsample: False
+use_pv: False
+use_gs: False
+dataset_non_overwrite: True

src/experiments/log/gs/ckpts/gripper.splat

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src/experiments/log/gs/ckpts/rope_scene_1/eef_xyz.txt

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