add sloth and axis

app.py

@@ -1012,9 +1012,10 @@ class DynamicsVisualizer:
 
         return form_video, form_3dgs_pred, \
             self.preprocess_metadata, self.state, self.params, \
-            self.table_params, self.gripper_params, rendervar
+            self.table_params, self.gripper_params, rendervar, task_name
 
-    def run_command(self, unit_command, preprocess_metadata, state, params, table_params, gripper_params, rendervar):
+    def run_command(self, unit_command, preprocess_metadata, state, params, table_params, gripper_params, rendervar, task_name):
+        self.task_name = task_name
         import warp as wp
         wp.init()
         gpus = [int(gpu) for gpu in self.cfg.gpus]
@@ -1192,7 +1193,7 @@ class DynamicsVisualizer:
         )
         return form_video, form_3dgs_pred, \
             self.preprocess_metadata, self.state, self.params, \
-            self.table_params, self.gripper_params, rendervar
+            self.table_params, self.gripper_params, rendervar, task_name
     
     @spaces.GPU
     def reset_rope(self):
@@ -1203,28 +1204,28 @@ class DynamicsVisualizer:
         return self.reset('sloth', 'sloth_scene_1')
 
     @spaces.GPU
-    def on_click_run_xplus(self, preprocess_metadata, state, params, table_params, gripper_params, rendervar):
-        return self.run_command([5.0, 0, 0], preprocess_metadata, state, params, table_params, gripper_params, rendervar)
+    def on_click_run_xplus(self, preprocess_metadata, state, params, table_params, gripper_params, rendervar, task_name):
+        return self.run_command([5.0, 0, 0], preprocess_metadata, state, params, table_params, gripper_params, rendervar, task_name)
 
     @spaces.GPU
-    def on_click_run_xminus(self, preprocess_metadata, state, params, table_params, gripper_params, rendervar):
-        return self.run_command([-5.0, 0, 0], preprocess_metadata, state, params, table_params, gripper_params, rendervar)
+    def on_click_run_xminus(self, preprocess_metadata, state, params, table_params, gripper_params, rendervar, task_name):
+        return self.run_command([-5.0, 0, 0], preprocess_metadata, state, params, table_params, gripper_params, rendervar, task_name)
     
     @spaces.GPU
-    def on_click_run_yplus(self, preprocess_metadata, state, params, table_params, gripper_params, rendervar):
-        return self.run_command([0, 5.0, 0], preprocess_metadata, state, params, table_params, gripper_params, rendervar)
+    def on_click_run_yplus(self, preprocess_metadata, state, params, table_params, gripper_params, rendervar, task_name):
+        return self.run_command([0, 5.0, 0], preprocess_metadata, state, params, table_params, gripper_params, rendervar, task_name)
     
     @spaces.GPU
-    def on_click_run_yminus(self, preprocess_metadata, state, params, table_params, gripper_params, rendervar):
-        return self.run_command([0, -5.0, 0], preprocess_metadata, state, params, table_params, gripper_params, rendervar)
+    def on_click_run_yminus(self, preprocess_metadata, state, params, table_params, gripper_params, rendervar, task_name):
+        return self.run_command([0, -5.0, 0], preprocess_metadata, state, params, table_params, gripper_params, rendervar, task_name)
     
     @spaces.GPU
-    def on_click_run_zplus(self, preprocess_metadata, state, params, table_params, gripper_params, rendervar):
-        return self.run_command([0, 0, 5.0], preprocess_metadata, state, params, table_params, gripper_params, rendervar)
+    def on_click_run_zplus(self, preprocess_metadata, state, params, table_params, gripper_params, rendervar, task_name):
+        return self.run_command([0, 0, 5.0], preprocess_metadata, state, params, table_params, gripper_params, rendervar, task_name)
     
     @spaces.GPU
-    def on_click_run_zminus(self, preprocess_metadata, state, params, table_params, gripper_params, rendervar):
-        return self.run_command([0, 0, -5.0], preprocess_metadata, state, params, table_params, gripper_params, rendervar)
+    def on_click_run_zminus(self, preprocess_metadata, state, params, table_params, gripper_params, rendervar, task_name):
+        return self.run_command([0, 0, -5.0], preprocess_metadata, state, params, table_params, gripper_params, rendervar, task_name)
 
     def launch(self, share=False):
         
@@ -1235,6 +1236,7 @@ class DynamicsVisualizer:
             table_params = gr.State(self.table_params)
             gripper_params = gr.State(self.gripper_params)
             rendervar = gr.State(None)
+            task_name = gr.State(self.task_name)
 
             with gr.Row():
                 gr.Markdown("# Particle-Grid Neural Dynamics for Learning Deformable Object Models from RGB-D Videos")
@@ -1321,55 +1323,55 @@ class DynamicsVisualizer:
                     inputs=[],
                     outputs=[form_video, form_3dgs_pred, 
                              preprocess_metadata, state, params,
-                             table_params, gripper_params, rendervar])
+                             table_params, gripper_params, rendervar, task_name])
             
             run_reset_plush.click(self.reset_plush,
                     inputs=[],
                     outputs=[form_video, form_3dgs_pred, 
                              preprocess_metadata, state, params,
-                             table_params, gripper_params, rendervar])
+                             table_params, gripper_params, rendervar, task_name])
             
             run_xplus.click(self.on_click_run_xplus,
                     inputs=[preprocess_metadata, state, params,
-                             table_params, gripper_params, rendervar],
+                             table_params, gripper_params, rendervar, task_name],
                     outputs=[form_video, form_3dgs_pred, 
                              preprocess_metadata, state, params,
-                             table_params, gripper_params, rendervar])
+                             table_params, gripper_params, rendervar, task_name])
             
             run_xminus.click(self.on_click_run_xminus,
                     inputs=[preprocess_metadata, state, params,
-                             table_params, gripper_params, rendervar],
+                             table_params, gripper_params, rendervar, task_name],
                     outputs=[form_video, form_3dgs_pred, 
                              preprocess_metadata, state, params,
-                             table_params, gripper_params, rendervar])
+                             table_params, gripper_params, rendervar, task_name])
             
             run_yplus.click(self.on_click_run_yplus,
                     inputs=[preprocess_metadata, state, params,
-                             table_params, gripper_params, rendervar],
+                             table_params, gripper_params, rendervar, task_name],
                     outputs=[form_video, form_3dgs_pred, 
                              preprocess_metadata, state, params,
-                             table_params, gripper_params, rendervar])
+                             table_params, gripper_params, rendervar, task_name])
             
             run_yminus.click(self.on_click_run_yminus,
                     inputs=[preprocess_metadata, state, params,
-                             table_params, gripper_params, rendervar],
+                             table_params, gripper_params, rendervar, task_name],
                     outputs=[form_video, form_3dgs_pred, 
                              preprocess_metadata, state, params,
-                             table_params, gripper_params, rendervar])
+                             table_params, gripper_params, rendervar, task_name])
             
             run_zplus.click(self.on_click_run_zplus,
                     inputs=[preprocess_metadata, state, params,
-                             table_params, gripper_params, rendervar],
+                             table_params, gripper_params, rendervar, task_name],
                     outputs=[form_video, form_3dgs_pred, 
                              preprocess_metadata, state, params,
-                             table_params, gripper_params, rendervar])
+                             table_params, gripper_params, rendervar, task_name])
 
             run_zminus.click(self.on_click_run_zminus,
                     inputs=[preprocess_metadata, state, params,
-                             table_params, gripper_params, rendervar],
+                             table_params, gripper_params, rendervar, task_name],
                     outputs=[form_video, form_3dgs_pred, 
                              preprocess_metadata, state, params,
-                             table_params, gripper_params, rendervar])
+                             table_params, gripper_params, rendervar, task_name])
 
         app.launch(share=share)
 

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

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:4d1d42fd7779673768a2604429439aba5c0228c08350d4c0173d6f7cce89a293
+oid sha256:fc23eec3d09f25912bf0ea9c34e72ad9523aeea3ef784b6a2545ac95d2d2c608
 size 12719456