diff --git a/.gitattributes b/.gitattributes
index 2f16b6a637592e53587bb9f58e81546dfe97dd7f..94325f9f171435e6680be00243da226d900df03f 100644
--- a/.gitattributes
+++ b/.gitattributes
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diff --git a/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/pixel_correspondences/00019_00020.json b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/pixel_correspondences/00019_00020.json
new file mode 100644
index 0000000000000000000000000000000000000000..612b63fd09acb504b2357dd2c9739327041da9d7
--- /dev/null
+++ b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/pixel_correspondences/00019_00020.json
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\ No newline at end of file
diff --git a/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/pixel_correspondences/00020_00021.json b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/pixel_correspondences/00020_00021.json
new file mode 100644
index 0000000000000000000000000000000000000000..4daba27809c6d4896b80fb43018509dbc9aa35af
--- /dev/null
+++ b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/pixel_correspondences/00020_00021.json
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\ No newline at end of file
diff --git a/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/pixel_correspondences/00021_00022.json b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/pixel_correspondences/00021_00022.json
new file mode 100644
index 0000000000000000000000000000000000000000..3cef6f52a3870d1c5bff76869616cabd0b1a6fda
--- /dev/null
+++ b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/pixel_correspondences/00021_00022.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/pixel_correspondences/00022_00023.json b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/pixel_correspondences/00022_00023.json
new file mode 100644
index 0000000000000000000000000000000000000000..4e20485ab80e1f1a589afac84b8023f137ae66df
--- /dev/null
+++ b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/pixel_correspondences/00022_00023.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/pixel_correspondences/00023_00024.json b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/pixel_correspondences/00023_00024.json
new file mode 100644
index 0000000000000000000000000000000000000000..10b60adebd862a749ed064408813ff84080938cb
--- /dev/null
+++ b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/pixel_correspondences/00023_00024.json
@@ -0,0 +1 @@
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diff --git a/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/pixel_correspondences/00024_00025.json b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/pixel_correspondences/00024_00025.json
new file mode 100644
index 0000000000000000000000000000000000000000..ca458a0e3d14f651748defefcbc7e62dd67271b8
--- /dev/null
+++ b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/pixel_correspondences/00024_00025.json
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diff --git a/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/pixel_correspondences/00025_00026.json b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/pixel_correspondences/00025_00026.json
new file mode 100644
index 0000000000000000000000000000000000000000..b123fdf29240449b3bef4846c93265effae22d9d
--- /dev/null
+++ b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/pixel_correspondences/00025_00026.json
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\ No newline at end of file
diff --git a/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/pixel_correspondences/00026_00027.json b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/pixel_correspondences/00026_00027.json
new file mode 100644
index 0000000000000000000000000000000000000000..af4e7ad7eb3fd696618c554087d2ea0a5e3351a8
--- /dev/null
+++ b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/pixel_correspondences/00026_00027.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/pixel_correspondences/00027_00028.json b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/pixel_correspondences/00027_00028.json
new file mode 100644
index 0000000000000000000000000000000000000000..68fa39eacf0db7c4a776ab42cff4cc4b22ee05ce
--- /dev/null
+++ b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/pixel_correspondences/00027_00028.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/pixel_correspondences/00028_00029.json b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/pixel_correspondences/00028_00029.json
new file mode 100644
index 0000000000000000000000000000000000000000..b6108d09d6e478f3821049d75860c3c1e7ec0ec0
--- /dev/null
+++ b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/pixel_correspondences/00028_00029.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/pixel_correspondences/00029_00030.json b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/pixel_correspondences/00029_00030.json
new file mode 100644
index 0000000000000000000000000000000000000000..0efa10076dd4ace65552120da2ded960e76d8629
--- /dev/null
+++ b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/pixel_correspondences/00029_00030.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/pixel_correspondences/00030_00031.json b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/pixel_correspondences/00030_00031.json
new file mode 100644
index 0000000000000000000000000000000000000000..2ca6f3ec3ae27e9796fb41bf2917a84898961b77
--- /dev/null
+++ b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/pixel_correspondences/00030_00031.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/pixel_correspondences/00031_00032.json b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/pixel_correspondences/00031_00032.json
new file mode 100644
index 0000000000000000000000000000000000000000..232fc6810d8ad929e16231ab1bdcc595f9345c77
--- /dev/null
+++ b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/pixel_correspondences/00031_00032.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/pixel_correspondences/00032_00033.json b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/pixel_correspondences/00032_00033.json
new file mode 100644
index 0000000000000000000000000000000000000000..0f410fadd252c7d0a11ee7a9a735f2085cdf2217
--- /dev/null
+++ b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/pixel_correspondences/00032_00033.json
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\ No newline at end of file
diff --git a/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/pixel_correspondences/00033_00034.json b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/pixel_correspondences/00033_00034.json
new file mode 100644
index 0000000000000000000000000000000000000000..eacd674176e849f5aeccdbec9be1f0da1888aaca
--- /dev/null
+++ b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/pixel_correspondences/00033_00034.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/pixel_correspondences/00034_00035.json b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/pixel_correspondences/00034_00035.json
new file mode 100644
index 0000000000000000000000000000000000000000..259c050799d267b82de25c4d5fd56536ceca9034
--- /dev/null
+++ b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/pixel_correspondences/00034_00035.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/pixel_correspondences/00035_00036.json b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/pixel_correspondences/00035_00036.json
new file mode 100644
index 0000000000000000000000000000000000000000..abb8d8e641cfa9ddfed56fe2f0fc77abee2b3ae0
--- /dev/null
+++ b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/pixel_correspondences/00035_00036.json
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\ No newline at end of file
diff --git a/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/pixel_correspondences/00036_00037.json b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/pixel_correspondences/00036_00037.json
new file mode 100644
index 0000000000000000000000000000000000000000..6479e6e8f004dbf457dc6cedfa58f687c7c73fc6
--- /dev/null
+++ b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/pixel_correspondences/00036_00037.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/pixel_correspondences/00037_00038.json b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/pixel_correspondences/00037_00038.json
new file mode 100644
index 0000000000000000000000000000000000000000..630cc50c18c2791d085f793fb1e06a0c1bb811bb
--- /dev/null
+++ b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/pixel_correspondences/00037_00038.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/pixel_correspondences/00038_00039.json b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/pixel_correspondences/00038_00039.json
new file mode 100644
index 0000000000000000000000000000000000000000..a53f0300cbf30fafd300adaeff4b5ac3f5b4996f
--- /dev/null
+++ b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/pixel_correspondences/00038_00039.json
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\ No newline at end of file
diff --git a/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/pixel_correspondences/00039_00040.json b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/pixel_correspondences/00039_00040.json
new file mode 100644
index 0000000000000000000000000000000000000000..b847c251b6925c50922904453559741581badb35
--- /dev/null
+++ b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/pixel_correspondences/00039_00040.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/pixel_correspondences/00040_00041.json b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/pixel_correspondences/00040_00041.json
new file mode 100644
index 0000000000000000000000000000000000000000..2eb531c7ff953e4ed4d67a72e381cdf40290c876
--- /dev/null
+++ b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/pixel_correspondences/00040_00041.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/pixel_correspondences/00041_00042.json b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/pixel_correspondences/00041_00042.json
new file mode 100644
index 0000000000000000000000000000000000000000..ced0007d124568b288219c52032d775cdec02fec
--- /dev/null
+++ b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/pixel_correspondences/00041_00042.json
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\ No newline at end of file
diff --git a/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/pixel_correspondences/00042_00043.json b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/pixel_correspondences/00042_00043.json
new file mode 100644
index 0000000000000000000000000000000000000000..fba22671bb4f7a4b0ebcc5598c025434cfb3be47
--- /dev/null
+++ b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/pixel_correspondences/00042_00043.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/pixel_correspondences/00043_00044.json b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/pixel_correspondences/00043_00044.json
new file mode 100644
index 0000000000000000000000000000000000000000..386a95b0c7cd16e30c179f05fada7238eddbe938
--- /dev/null
+++ b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/pixel_correspondences/00043_00044.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/pixel_correspondences/00044_00045.json b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/pixel_correspondences/00044_00045.json
new file mode 100644
index 0000000000000000000000000000000000000000..6b7d5d2c0e8546d682c94e32fd5a7dac581039d2
--- /dev/null
+++ b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/pixel_correspondences/00044_00045.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/pixel_correspondences/00045_00046.json b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/pixel_correspondences/00045_00046.json
new file mode 100644
index 0000000000000000000000000000000000000000..d50bf7310e777518abefa044da77dc94baec7b5d
--- /dev/null
+++ b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/pixel_correspondences/00045_00046.json
@@ -0,0 +1 @@
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diff --git a/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/pixel_correspondences/00046_00047.json b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/pixel_correspondences/00046_00047.json
new file mode 100644
index 0000000000000000000000000000000000000000..72c224043606fa67d195207d027d527bf876d45f
--- /dev/null
+++ b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/pixel_correspondences/00046_00047.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/pixel_correspondences/00047_00048.json b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/pixel_correspondences/00047_00048.json
new file mode 100644
index 0000000000000000000000000000000000000000..bb2e5f822adc895f008988c2b64a383b37e1bc3c
--- /dev/null
+++ b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/pixel_correspondences/00047_00048.json
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[227, 299, 225, 302], [225, 297, 223, 301], [224, 296, 222, 299], [222, 294, 220, 298], [220, 293, 218, 296], [218, 291, 216, 294], [217, 289, 215, 293], [215, 288, 213, 291], [214, 286, 211, 290], [212, 284, 210, 288], [210, 283, 208, 287], [209, 281, 206, 285], [207, 279, 205, 284], [205, 278, 203, 282], [204, 276, 201, 280], [202, 276, 199, 280], [202, 275, 200, 279], [234, 302, 232, 305], [233, 301, 231, 304], [231, 299, 229, 302], [229, 297, 227, 301], [227, 296, 225, 299], [226, 294, 224, 298], [224, 293, 222, 296], [222, 291, 220, 295], [220, 289, 218, 293], [219, 287, 217, 291], [217, 286, 215, 290], [215, 284, 213, 288], [214, 283, 212, 286], [212, 281, 210, 285], [210, 279, 208, 283], [209, 278, 206, 282], [207, 276, 205, 280], [238, 302, 236, 305], [236, 301, 234, 304], [235, 299, 233, 302], [219, 284, 217, 288], [217, 283, 215, 286], [216, 281, 213, 285], [214, 279, 212, 283], [243, 304, 241, 307], [260, 349, 258, 351], [258, 347, 257, 350], [256, 347, 255, 349], [256, 345, 255, 348], [273, 360, 272, 362], [271, 359, 270, 361], [271, 360, 270, 362], [272, 357, 271, 359], [269, 357, 268, 359], [269, 358, 268, 360], [270, 356, 269, 358], [268, 355, 266, 357], [265, 354, 264, 356], [265, 355, 264, 357], [263, 352, 262, 354], [263, 353, 262, 356], [253, 342, 252, 344], [251, 340, 250, 342], [249, 335, 247, 338], [247, 333, 246, 336], [246, 331, 244, 334], [244, 329, 242, 332], [279, 362, 278, 364], [277, 359, 276, 361], [243, 328, 241, 331], [244, 327, 243, 330], [243, 326, 242, 329], [241, 326, 240, 329], [242, 324, 240, 327], [240, 324, 238, 327], [241, 322, 239, 325], [238, 322, 236, 325], [239, 321, 237, 324], [236, 320, 235, 323], [237, 319, 235, 322], [235, 319, 234, 322], [235, 318, 234, 321], [241, 321, 239, 324], [240, 319, 238, 322], [239, 317, 237, 320], [237, 315, 235, 319], [234, 316, 232, 319], [235, 314, 233, 317], [233, 314, 231, 317], [234, 312, 232, 316], [231, 312, 229, 315], [232, 311, 230, 314], [230, 311, 228, 314], [230, 309, 228, 313], [237, 312, 235, 315], [235, 310, 233, 314], [234, 309, 232, 312], [232, 307, 230, 310], [229, 307, 227, 310], [227, 305, 225, 309], [226, 304, 224, 307], [241, 312, 239, 315], [239, 310, 237, 313], [237, 309, 235, 312], [236, 307, 234, 310], [289, 355, 288, 357], [244, 312, 242, 315], [243, 310, 241, 313], [241, 309, 239, 312], [239, 307, 237, 310], [248, 312, 246, 315], [246, 310, 244, 313], [245, 308, 243, 311], [255, 315, 253, 318], [266, 353, 265, 355], [267, 351, 266, 354], [264, 351, 263, 353], [265, 349, 264, 352], [262, 349, 261, 351], [263, 348, 262, 350], [260, 347, 259, 350], [261, 346, 260, 348], [259, 346, 257, 348], [260, 344, 258, 347], [257, 344, 256, 347], [258, 343, 257, 345], [255, 342, 254, 345], [255, 343, 253, 346], [256, 341, 255, 343], [254, 340, 252, 343], [254, 339, 253, 342], [253, 337, 251, 340], [251, 336, 249, 339], [250, 338, 248, 340], [273, 356, 272, 358], [274, 355, 273, 357], [271, 355, 270, 357], [272, 353, 271, 355], [270, 351, 269, 353], [269, 349, 267, 352], [264, 346, 263, 348], [263, 344, 261, 346], [261, 343, 260, 345], [259, 341, 258, 343], [257, 339, 256, 342], [256, 337, 254, 340], [254, 335, 253, 338], [252, 334, 251, 336], [249, 334, 248, 337], [251, 332, 249, 335], [248, 332, 246, 335], [249, 330, 247, 333], [246, 330, 245, 333], [247, 329, 246, 332], [245, 329, 244, 332], [245, 327, 244, 330], [278, 358, 277, 360], [280, 356, 278, 358], [278, 355, 276, 357], [276, 353, 275, 355], [271, 350, 270, 352], [270, 348, 268, 350], [254, 334, 253, 336], [253, 332, 252, 335], [252, 330, 250, 333], [251, 328, 249, 331], [249, 327, 247, 330], [247, 325, 245, 328], [244, 325, 242, 328], [245, 324, 244, 326], [243, 323, 241, 326], [244, 322, 242, 325], [242, 322, 240, 325], [242, 320, 240, 323], [283, 357, 282, 358], [281, 355, 280, 357], [279, 353, 278, 355], [278, 351, 276, 353], [251, 325, 249, 328], [249, 323, 247, 326], [247, 322, 245, 325], [246, 320, 244, 323], [244, 318, 242, 321], [241, 318, 239, 321], [242, 317, 240, 320], [239, 316, 237, 319], [283, 353, 282, 355], [281, 351, 280, 353], [280, 349, 278, 351], [278, 348, 276, 350], [256, 327, 254, 329], [254, 325, 253, 328], [253, 323, 251, 326], [251, 322, 249, 324], [249, 320, 247, 323], [247, 318, 246, 321], [246, 317, 244, 320], [285, 351, 284, 353], [283, 350, 282, 351], [282, 348, 280, 350], [280, 346, 278, 348], [278, 344, 276, 346], [276, 342, 275, 344], [274, 340, 273, 343], [272, 339, 271, 341], [270, 337, 269, 339], [269, 335, 267, 337], [267, 334, 265, 336], [265, 332, 263, 334], [263, 330, 262, 332], [262, 328, 260, 331], [260, 327, 258, 329], [258, 325, 256, 327], [256, 323, 254, 326], [255, 322, 253, 324], [253, 320, 251, 323], [251, 318, 249, 321], [249, 317, 248, 319], [283, 346, 282, 348], [282, 344, 280, 346], [280, 343, 278, 345], [278, 341, 276, 343], [276, 339, 274, 341], [274, 337, 273, 339], [272, 335, 271, 337], [271, 334, 269, 336], [269, 332, 267, 334], [267, 330, 265, 332], [265, 328, 264, 331], [264, 327, 262, 329], [262, 325, 260, 327], [260, 323, 258, 326], [258, 321, 256, 324], [256, 320, 255, 322], [265, 345, 264, 347], [266, 344, 265, 346], [263, 343, 262, 346], [264, 342, 263, 344], [262, 342, 260, 344], [263, 340, 261, 343], [260, 340, 259, 342], [261, 339, 260, 341], [258, 338, 257, 341], [259, 337, 258, 339], [257, 336, 255, 339], [258, 335, 256, 338], [255, 335, 254, 338], [256, 334, 254, 336], [272, 349, 271, 351], [270, 347, 269, 349], [272, 346, 271, 348], [270, 344, 269, 346], [268, 342, 267, 344], [266, 340, 265, 342], [265, 339, 263, 341], [263, 337, 261, 339], [261, 335, 260, 338], [259, 333, 258, 336], [258, 332, 256, 334], [254, 331, 253, 334]]
\ No newline at end of file
diff --git a/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/plane.ply b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/plane.ply
new file mode 100644
index 0000000000000000000000000000000000000000..8fc87de12eaa50187f47ad87f283f8dbf6fcdefe
Binary files /dev/null and b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/plane.ply differ
diff --git a/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/rendering_20261031_203302.py b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/rendering_20261031_203302.py
new file mode 100644
index 0000000000000000000000000000000000000000..7164975bfc060f83b411107ff70f891dfa108bc1
--- /dev/null
+++ b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/rendering_20261031_203302.py
@@ -0,0 +1,929 @@
+"""Render a sequence of Mitsuba images from per-frame point data.
+
+This module constructs Mitsuba scenes using foreground point clouds (as tiny
+colored spheres) and an optional ground plane mesh, rendering each video frame
+from the provided camera pose.
+"""
+
+import json
+import math
+import shutil
+import time
+from datetime import datetime
+from pathlib import Path
+from typing import Dict, List, Tuple
+
+import cv2
+import numpy as np
+import open3d as o3d
+from PIL import Image
+from rich import print
+
+try:
+    import mitsuba as mi
+
+    mi.set_variant("cuda_ad_rgb")
+except Exception:
+    print("Mitsuba 3 is not installed. Please install mitsuba and try again.")
+    mi = None
+
+from ..constants import (
+    OUT_PERCEPTION_DIR,
+    OUT_RENDERING_DIR,
+    OUT_SIMULATION_DIR,
+    VIPE_EXPORT_DIR,
+)
+from .grid_io import load_grid
+from .interpolate import interpolate_c2ws
+from .make_video import make_video_from_frames_dir
+from .particle_io import ParticleIO
+
+
+def backup_this_script(output_dir: Path, timestamp: str = None):
+    output_dir = Path(output_dir)
+    output_dir.mkdir(parents=True, exist_ok=True)
+    if timestamp is None:
+        timestamp = datetime.now().strftime("%Y%m%d_%H%M%S")
+    script_path = Path(__file__)
+    script_content = script_path.read_text()
+    with open(output_dir / f"rendering_{timestamp}.py", "w") as f:
+        f.write(script_content)
+
+
+def _read_json(path: Path) -> dict:
+    """Read and parse a JSON file at the given path."""
+    with open(path, "r") as f:
+        return json.load(f)
+
+
+def _load_video_info(exported_sample_dir: Path) -> dict:
+    """Load the `video_info.json` for the given video directory."""
+    video_info_dir = exported_sample_dir / "video_info"
+    video_info_json = video_info_dir / "video_info.json"
+    if not video_info_json.exists():
+        raise FileNotFoundError(f"Missing video_info.json at {video_info_json}")
+    return _read_json(video_info_json)
+
+
+def _list_frame_dirs(exported_sample_dir: Path) -> List[Path]:
+    """List and return all `frame_*` subdirectories under `video_dir`."""
+    frame_dirs: List[Path] = []
+    frames_info_dir = exported_sample_dir / "frames_info"
+    for path in sorted(frames_info_dir.glob("*")):
+        if path.is_dir():
+            frame_dirs.append(path)
+    frame_dirs = sorted(frame_dirs, key=lambda x: int(x.name))
+    return frame_dirs
+
+
+def build_ground_mesh(video_info: dict, output_dir: Path) -> dict:
+    ply_path = build_ground_plane_ply(video_info, output_dir)
+    # refl = {"type": "rgb", "value": [0.85, 0.85, 0.85]}
+    refl = {"type": "rgb", "value": [0.3, 0.3, 0.2]}
+    twosided = {"type": "twosided", "bsdf": {"type": "diffuse", "reflectance": refl}}
+    return {"type": "ply", "filename": str(ply_path), "bsdf": twosided}
+
+
+def build_ground_plane_ply(video_info: dict, output_dir: Path) -> str:
+    ply_path = Path(output_dir) / "plane.ply"
+    if ply_path.exists():
+        return str(ply_path)
+    verts = np.asarray(video_info["plane_vertices"], dtype=np.float32)
+    faces = np.asarray(video_info["plane_faces"], dtype=np.int32)
+    assert verts.shape == (4, 3) and faces.shape == (2, 3)
+    mesh = o3d.geometry.TriangleMesh()
+    mesh.vertices = o3d.utility.Vector3dVector(verts.astype(np.float64))
+    mesh.triangles = o3d.utility.Vector3iVector(faces.astype(np.int32))
+    o3d.io.write_triangle_mesh(str(ply_path), mesh, write_vertex_colors=False)
+    return str(ply_path)
+
+
+def _load_frame_infos(frame_dirs: List[Path]) -> list:
+    frame_infos = []
+    for frame_dir in frame_dirs:
+        frame_meta = _read_json(frame_dir / f"{frame_dir.name}.json")
+        frame_infos.append(frame_meta)
+    return frame_infos
+
+
+def load_cam_base_params(frame_meta: dict) -> dict:
+    fov_deg = float(frame_meta["fov"]) * 180.0 / math.pi
+    K = frame_meta["K"]
+    fx, fy, cx, cy = K
+    width, height = int(cx * 2), int(cy * 2)
+    # Original data is RH, Mitsuba is also RH
+    # But original Up is -Y, Mitsuba Up is +Y
+    # So we need to rotate 180 degrees around Z axis
+    C = np.eye(4, dtype=np.float32)
+    C[0, 0] = -1.0
+    C[1, 1] = -1.0
+    return dict(fov_deg=fov_deg, width=width, height=height, C=C)
+
+
+def _load_foreground_points_for_frame(
+    frame_dir: Path,
+) -> Tuple[np.ndarray, np.ndarray, np.ndarray, float, int, int]:
+    """Load foreground points, colors, and camera info for a single frame.
+
+    Returns a tuple: (fg_xyz, fg_col, c2w, fov_deg, width, height)
+    """
+    frame_meta = _read_json(frame_dir / f"{frame_dir.name}.json")
+    c2w = np.array(frame_meta["c2w"], dtype=np.float32)
+    fov_deg = float(frame_meta["fov"]) * 180.0 / math.pi
+
+    rgb_npz = frame_dir / str(frame_meta["full_rgb"])  # (H,W,3) float32 or uint8
+    pcd_npz = frame_dir / str(frame_meta["full_pcd"])  # (H,W,3)
+    fg_npz = frame_dir / str(frame_meta["fg_mask"])  # (H,W)
+
+    rgb, _, _ = load_grid(str(rgb_npz))
+    xyz, _, _ = load_grid(str(pcd_npz))
+    fg_mask, _, _ = load_grid(str(fg_npz))
+
+    assert xyz.ndim == 3 and xyz.shape[-1] == 3
+    height, width, _ = xyz.shape
+    if rgb.ndim == 3 and rgb.shape[:2] == (height, width):
+        cols = rgb.astype(np.float32)
+    else:
+        # Fallback: create white colors
+        cols = np.ones((height, width, 3), dtype=np.float32)
+    if cols.max() > 1.0:
+        cols = cols / 255.0
+
+    fg = (
+        fg_mask.astype(bool)
+        if fg_mask is not None
+        else np.zeros((height, width), dtype=bool)
+    )
+    if fg.shape != (height, width):
+        fg = fg.reshape(height, width)
+
+    pts = xyz.reshape(-1, 3)[fg.reshape(-1)]
+    col = cols.reshape(-1, 3)[fg.reshape(-1)]
+    return pts.astype(np.float32), col.astype(np.float32), c2w, fov_deg, width, height
+
+
+def _build_sphere_shapegroup(
+    group_id: str, positions: np.ndarray, colors: np.ndarray, radius: float
+) -> Dict:
+    """Build a Mitsuba shapegroup containing many small colored spheres."""
+    positions_array = np.asarray(positions, dtype=np.float32).reshape(-1, 3)
+    colors_array = np.asarray(colors, dtype=np.float32).reshape(-1, 3)
+    num_spheres = min(positions_array.shape[0], colors_array.shape[0])
+    positions_array = positions_array[:num_spheres]
+    colors_array = colors_array[:num_spheres]
+    # Build a shapegroup containing many small spheres at the given centers with per-sphere diffuse color
+    children: Dict[str, Dict] = {"type": "shapegroup", "id": group_id}
+    for i in range(num_spheres):
+        color_tuple = tuple(float(x) for x in colors_array[i])
+        children[f"s{i}"] = {
+            "type": "sphere",
+            "center": tuple(float(x) for x in positions_array[i]),
+            "radius": float(radius),
+            "bsdf": {
+                "type": "diffuse",
+                "reflectance": {"type": "rgb", "value": color_tuple},
+            },
+        }
+    return children
+
+
+def get_mesh_path(sample_id: str, obj_name: str, is_primary: bool) -> dict:
+    _suffix = "_0" if is_primary else "_1"
+    obj_name = obj_name.strip()
+    if " " in obj_name:
+        obj_name = obj_name.replace(" ", "_")
+    model_path = (
+        VIPE_EXPORT_DIR
+        / sample_id
+        / "video_info"
+        / f"size_estimate{_suffix}"
+        / f"{obj_name}.obj"
+    )
+    assert model_path.exists(), f"Mesh path {model_path} does not exist"
+    # texture_path = model_path.parent / "ball1.png"
+    # NOTE: !IMPORTANT! Use material_0.png for *_transformed.obj due to trimesh export
+    texture_path = model_path.parent / "material_0.png"
+    assert texture_path.exists(), f"Texture path {texture_path} does not exist"
+    return dict(model_path=model_path, texture_path=texture_path)
+
+
+def load_input_model(
+    model_path,
+    with_metallic=True,
+    with_roughness=True,
+    transform=None,
+    texture_path=None,
+    tex_dim=2048,
+    # starting_values=(0.5, 1, 0),
+    starting_values=(0, 0.9, 0.5),
+):
+    """Load a mesh with optional texture maps and build a Mitsuba shape.
+
+    Args:
+        model_path (str): Path to the triangle mesh file (e.g., OBJ).
+        with_metallic (bool): If True, allocate a metallic texture map.
+        with_roughness (bool): If True, allocate a roughness texture map.
+        transform (np.ndarray|None): Optional 4x4 transform applied before
+            centering/axis adjustments.
+        texture_path (str|None): Optional path to an albedo texture map image.
+        tex_dim (int): Fallback texture resolution when generating defaults.
+        starting_values (tuple): Initial values for (albedo, roughness, metallic)
+            textures when generated procedurally.
+
+    Returns:
+        mi.Shape: Mitsuba mesh with a Principled BSDF assembled from texture maps.
+    """
+    print(f"Loading {model_path}...")
+    albedo_start, roughness_start, metallic_start = starting_values
+
+    # Load the mesh via Open3D (legacy -> tensor) for consistent material handling
+    mesh_old = o3d.io.read_triangle_mesh(str(model_path), False)
+    print(f"Number of vertices in mesh_old: {len(mesh_old.vertices)}")
+    mesh = o3d.t.geometry.TriangleMesh.from_legacy(mesh_old)
+    print(f"Number of vertices in mesh: {mesh.vertex['positions'].shape[0]}")
+
+    mesh.material.material_name = (
+        "defaultLit"  # note: ignored by Mitsuba, just used to visualize in Open3D
+    )
+
+    # Assemble texture maps: albedo (required), optional roughness/metallic.
+    # If a map is not provided/available, create a constant texture image.
+    if texture_path is not None:
+        # albedo_image = np.array(Image.open(tex_map)) / 255.0
+        mesh.material.texture_maps["albedo"] = o3d.t.io.read_image(texture_path)
+        tex_dim = len(np.array(mesh.material.texture_maps["albedo"]))
+        print("Given albedo texture", mesh.material.texture_maps["albedo"])
+    elif "albedo" in mesh.material.texture_maps:
+        tex_dim = len(np.array(mesh.material.texture_maps["albedo"]))
+        print("Loaded albedo texture", mesh.material.texture_maps["albedo"])
+    else:
+        mesh.material.texture_maps["albedo"] = o3d.t.geometry.Image(
+            albedo_start + np.zeros((tex_dim, tex_dim, 3), dtype=np.float32)
+        )
+        print("Default albedo texture", mesh.material.texture_maps["albedo"])
+
+    if with_roughness:
+        mesh.material.texture_maps["roughness"] = o3d.t.geometry.Image(
+            roughness_start + np.zeros((tex_dim, tex_dim, 1), dtype=np.float32)
+        )
+
+    if with_metallic:
+        mesh.material.texture_maps["metallic"] = o3d.t.geometry.Image(
+            metallic_start + np.zeros((tex_dim, tex_dim, 1), dtype=np.float32)
+        )
+
+    # NOTE POTENTIALLY IMPORTANT:
+    # Apply transform to place the mesh at scene center and flip XY axes to
+    # match Mitsuba's coordinate expectations in this setup.
+    if transform is None:
+        transform = np.eye(4)
+    trafo = np.array(
+        [
+            [-1, 0, 0, 0],
+            [0, -1, 0, 0],
+            [0, 0, 1, 0],
+            [0, 0, 0, 1],
+        ]
+    )
+    mesh.transform(trafo @ transform)
+    # # Persist a transformed mesh copy next to the source (primarily for debugging)
+    # o3d.t.io.write_triangle_mesh(f'{model_path.split(".")[0]}_1.obj', mesh)
+
+    # Build a Principled BSDF in Mitsuba, wiring in the texture maps from Open3D.
+    bsdf = mi.load_dict(
+        {
+            "type": "principled",
+            "base_color": {
+                "type": "bitmap",
+                "bitmap": mi.Bitmap(
+                    mesh.material.texture_maps["albedo"].as_tensor().numpy()
+                ),
+                "wrap_mode": "mirror",
+            },
+            "roughness": {
+                "type": "bitmap",
+                "bitmap": mi.Bitmap(
+                    mesh.material.texture_maps["roughness"].as_tensor().numpy()
+                ),
+            },
+            "metallic": {
+                "type": "bitmap",
+                "bitmap": mi.Bitmap(
+                    mesh.material.texture_maps["metallic"].as_tensor().numpy()
+                ),
+            },
+        }
+    )
+    mesh_mitsuba = mesh.to_mitsuba("mesh", bsdf=bsdf)
+    return mesh_mitsuba
+
+
+def _build_sensor(
+    c2w: np.ndarray,
+    fov_deg: float,
+    width: int,
+    height: int,
+    C: np.ndarray | None = None,
+) -> Dict:
+    """Construct a Mitsuba perspective sensor dict.
+
+    If `C` is provided, the final transform is `c2w @ C`; otherwise `c2w`.
+    """
+    to_world = c2w.astype(np.float32) if C is None else (c2w @ C).astype(np.float32)
+    return {
+        "type": "perspective",
+        "to_world": mi.ScalarTransform4f(to_world),
+        "fov_axis": "y",
+        "fov": fov_deg,
+        "near_clip": 1e-3,
+        "far_clip": 100.0,
+        "film": {
+            "type": "hdrfilm",
+            "width": int(width),
+            "height": int(height),
+            # "rfilter": {"type": "box"},
+            "pixel_format": "rgba",
+        },
+        "sampler": {"type": "multijitter", "sample_count": 64},
+    }
+
+
+def _update_mitsuba_mesh_positions(mesh: Dict, points: np.ndarray) -> Dict:
+    mesh_params = mi.traverse(mesh)
+    vertices = np.array(mesh_params["vertex_positions"]).reshape(-1, 3)
+    vertex_num = len(vertices)
+    points = points.reshape(-1, 3)
+    if points.shape[0] < vertex_num:
+        print(
+            f"Warning: number of points ({points.shape[0]}) is less than number of vertices ({vertex_num})"
+        )
+        exit(1)
+    points = points[:vertex_num, :]
+    mesh_params["vertex_positions"] = points.flatten()
+    mesh_params.update()
+    return mesh
+
+
+def add_cam_light_to_scene(scene: dict, position: np.ndarray, intensity: float = 5.0):
+    scene["light_cam"] = {
+        "type": "point",
+        "to_world": mi.ScalarTransform4f.translate(position),
+        "intensity": {"type": "rgb", "value": intensity},
+    }
+
+
+def _build_scene(
+    sensor: dict = None,
+    bg_group: dict = None,
+    fg_group: dict = None,
+    bg_mesh: dict = None,
+    obj_mesh_primary: dict = None,
+    obj_mesh_secondary: dict = None,
+) -> dict:
+    """Assemble the Mitsuba scene with sensor, environment, lights, and objects."""
+    scene: Dict = {
+        "type": "scene",
+        # "integrator": {"type": "direct"},
+        "integrator": {
+            "type": "prb",
+            "hide_emitters": True,
+        },
+    }
+    scene["env"] = {
+        "type": "constant",
+        "radiance": {"type": "rgb", "value": [0.2, 0.2, 0.2]},
+    }
+
+    # Default point lights
+    scene["light_top"] = {
+        "type": "point",
+        "to_world": mi.ScalarTransform4f.translate([1.0, 8.0, 1.0]),
+        "intensity": {"type": "rgb", "value": 35.0},
+    }
+    # scene["light_back"] = {
+    #     "type": "point",
+    #     "to_world": mi.ScalarTransform4f.translate([1.0, 1.0, -2.0]),
+    #     "intensity": {"type": "rgb", "value": 35.0},
+    # }
+
+    if sensor is not None:
+        scene["sensor"] = sensor
+    if obj_mesh_primary is not None:
+        scene["obj_mesh_primary"] = obj_mesh_primary
+    if obj_mesh_secondary is not None:
+        scene["obj_mesh_secondary"] = obj_mesh_secondary
+    if bg_mesh is not None:
+        scene["bg_mesh"] = bg_mesh
+    if bg_group is not None:
+        scene["bg_group"] = bg_group
+        scene["bg"] = {
+            "type": "instance",
+            "child": {"type": "ref", "id": bg_group.get("id", "bg_group")},
+        }
+    if fg_group is not None:
+        scene["fg_group"] = fg_group
+        scene["fg"] = {
+            "type": "instance",
+            "child": {"type": "ref", "id": fg_group.get("id", "fg_group")},
+        }
+    return scene
+
+
+def update_scene_dict_and_render(scene_dict: dict, **kwargs):
+    scene_dict.update(kwargs)
+    for k in list(scene_dict.keys()):
+        if scene_dict[k] is None:
+            del scene_dict[k]
+
+    scene = mi.load_dict(scene_dict)
+    image = mi.render(scene)
+    W, H = scene_dict["sensor"]["film"]["width"], scene_dict["sensor"]["film"]["height"]
+    denoiser = mi.OptixDenoiser(
+        input_size=(W, H), albedo=False, normals=False, temporal=False
+    )
+    image = denoiser(image)
+    return image
+
+
+def check_type_and_shape(target, name: str = ""):
+    if isinstance(target, np.ndarray):
+        print(
+            f"{name:<20} >>> Object type: {type(target)}, shape: {target.shape}, range: {target.min():.2f} to {target.max():.2f}"
+        )
+    else:
+        print(f"{name:<20} >>> Object type: {type(target)}")
+
+
+def save_image(img, save_path: str | Path, verbose: bool = True) -> Path:
+    if isinstance(save_path, Path):
+        save_path = str(save_path)
+
+    if isinstance(img, np.ndarray):
+        arr = np.asarray(img)
+        # Squeeze trailing single-channel dimension for masks (H,W,1) -> (H,W)
+        if arr.ndim == 3 and arr.shape[-1] == 1:
+            arr = arr[..., 0]
+
+        # Normalize dtype and value range to uint8 [0, 255]
+        if arr.dtype == np.bool_:
+            arr = arr.astype(np.uint8) * 255
+        else:
+            max_value = float(arr.max()) if arr.size else 0.0
+            min_value = float(arr.min()) if arr.size else 0.0
+
+            if arr.dtype.kind in {"f", "c"}:  # float/complex (complex unlikely)
+                if 0.0 <= min_value and max_value <= 1.0:
+                    arr = (arr * 255.0).round().astype(np.uint8)
+                elif 0.0 <= min_value and max_value <= 255.01:
+                    arr = np.clip(arr, 0.0, 255.0).round().astype(np.uint8)
+                else:
+                    raise ValueError(
+                        f"Image range is not supported for float array: {min_value} to {max_value}"
+                    )
+            elif arr.dtype.kind in {"u", "i"}:  # unsigned/signed int
+                if min_value < 0 or max_value > 255:
+                    raise ValueError(
+                        f"Integer image values must be within 0..255, got {min_value} to {max_value}"
+                    )
+                arr = arr.astype(np.uint8)
+            else:
+                raise ValueError(f"Unsupported numpy dtype for image: {arr.dtype}")
+
+        # Determine mode and save
+        if arr.ndim == 2:
+            # Grayscale mask or single-channel image
+            Image.fromarray(arr, mode="L").save(save_path)
+        elif arr.ndim == 3:
+            channels = arr.shape[-1]
+            if channels == 3:
+                Image.fromarray(arr, mode="RGB").save(save_path)
+            elif channels == 4:
+                Image.fromarray(arr, mode="RGBA").save(save_path)
+            else:
+                raise ValueError(
+                    f"Unsupported channel count: expected 1, 3, or 4 but got {channels}"
+                )
+        else:
+            raise ValueError(
+                f"Unsupported array shape for image: {arr.shape}. Expected (H,W), (H,W,3) or (H,W,4)."
+            )
+
+    elif isinstance(img, Image.Image):
+        img.save(save_path)
+    elif mi is not None and isinstance(img, mi.TensorXf):
+        mi.util.write_bitmap(save_path, img)
+    else:
+        raise ValueError(f"Image type is not supported: {type(img)}")
+
+    if verbose:
+        print(f"Image saved: [green bold]{save_path}")
+    return Path(save_path).resolve()
+
+
+def post_process_images(
+    img_inpainted_bg, img_ground_only, img_obj_only, img_obj_ground, **kwargs
+) -> np.ndarray:
+    img_inpainted_bg = np.asarray(img_inpainted_bg)
+    img_ground_only = np.asarray(img_ground_only)
+    img_obj_only = np.asarray(img_obj_only)
+    img_obj_ground = np.asarray(img_obj_ground)
+    # Compute per-pixel shadow by comparing composited object-only
+    # result with the object+plane render.
+    # NOTE: important step for shadow mapping
+    object_alpha = img_obj_only[..., 3:4]  # (H,W,1) [0, 1]
+    # check_type_and_shape(object_alpha, "object_alpha")
+    save_image(object_alpha, kwargs["obj_mask_dir"] / f"{kwargs['i']:05d}.png")
+
+    # compose object-only image with ground-only image using object_alpha
+    image_no_shade = img_obj_only[..., :3] * object_alpha + img_ground_only[..., :3] * (
+        1 - object_alpha
+    )  # (H,W,3) [0, 1]
+    # check_type_and_shape(image_no_shade, "image_no_shade")
+    # mi.util.write_bitmap(f"{output_folder}/{f:05d}_2.png", image_no_shade)
+
+    # get image residual between image_all (with shadow) and image_no_shade (without shadow)
+    # the larger the difference, the darker the shadow
+    shadow_difference = image_no_shade - img_obj_ground[..., :3]  # (H,W,3) [-1, 1]
+    # check_type_and_shape(shadow_difference, "shadow_difference")
+    # mi.util.write_bitmap(f"{output_folder}/{f:05d}_3.png", shadow_difference)
+
+    # only to avoid division by zero
+    image_no_shade = np.maximum(image_no_shade, 0.1)
+    # check_type_and_shape(image_no_shade, "image_no_shade")
+
+    shadow_ratio = shadow_difference / image_no_shade
+    # check_type_and_shape(shadow_ratio, "shadow_ratio after division")
+    shadow_ratio = np.clip(shadow_ratio, 0, 1)
+    # check_type_and_shape(shadow_ratio, "shadow_ratio after clipping")
+
+    # Reinsert shadows into the original photographic background and
+    # alpha-composite the rendered object over it.
+    shadow_ratio = cv2.cvtColor(np.array(shadow_ratio), cv2.COLOR_BGR2RGB)
+    # check_type_and_shape(shadow_ratio, "shadow_ratio after color conversion")
+
+    image_shadowed = img_inpainted_bg * (1 - shadow_ratio)
+    # image_shadowed = image_origin - shadow_difference * 255
+    # save_image(image_shadowed, kwargs["misc_dir"] / f"shadowed_{kwargs['i']:05d}.png")
+
+    time.sleep(1)  # wait for the image to be saved
+    img_obj_ground_3 = np.asarray(
+        Image.open(kwargs["obj_ground_dir"] / f"{kwargs['i']:05d}.png")
+    )  # (H,W,3) [0, 255]
+    # check_type_and_shape(img_obj_ground_3, "img_obj_ground_3")
+
+    final_img = img_obj_ground_3 * object_alpha + image_shadowed * (1 - object_alpha)
+    # check_type_and_shape(final_img, "final_img")
+    # print("\n\n")
+    return final_img
+
+
+def check_image_object(img, name: str = ""):
+    if isinstance(img, np.ndarray):
+        _target = img
+        dtype = _target.dtype
+        shape = _target.shape
+        max_value = _target.max()
+        min_value = _target.min()
+        if 0 <= min_value <= max_value <= 1:
+            image_range = "0-1"
+        elif 0 <= min_value <= max_value <= 255 and max_value > 3:
+            # check max_value > 3 just in case
+            image_range = "0-255"
+        else:
+            image_range = f"{min_value}-{max_value}"
+
+        print(f"{name} >>> Image dtype: {dtype}, shape: {shape}, range: {image_range}")
+        return
+
+    elif isinstance(img, Image.Image):
+        print(f"{name} >>> Image type: {type(img)}")
+        return
+    else:
+        print(f"{name} >>> Unknown image type: {type(img)}")
+        return
+
+
+def render_simulation_result(
+    exported_sample_dir: Path,
+    output_dir: Path,
+    simulation_id: str,
+    interpolate_cameras: bool = True,
+):
+    """Render each frame directory under `video_dir` into `output_dir` using Mitsuba."""
+    assert (
+        mi is not None
+    ), "Mitsuba 3 is not installed. Please install mitsuba and try again."
+    # mi.set_variant("cuda_rgb") if mi.has_backend("cuda_ad_rgb") else mi.set_variant("llvm_rgb")
+
+    ### load video info
+    video_info = _load_video_info(exported_sample_dir)
+    sample_id = video_info["sample_id"]
+    print(
+        f"Rendering RGB frames for sample: {sample_id} (interpolate_cameras: {interpolate_cameras})"
+    )
+    video_n_frames = video_info["N_frames"]
+
+    # check objects
+    primary_obj_name = video_info.get("primary_obj_name")
+    secondary_obj_name = video_info.get("secondary_obj_name")
+    if not primary_obj_name:
+        raise ValueError(f"Primary object name not found in video info for {sample_id}")
+    primary_obj_path_dict = get_mesh_path(sample_id, primary_obj_name, is_primary=True)
+    if secondary_obj_name:
+        secondary_obj_path_dict = get_mesh_path(
+            sample_id, secondary_obj_name, is_primary=False
+        )
+
+    # metadata_file
+    metadata_file = OUT_SIMULATION_DIR / sample_id / simulation_id / "metadata.json"
+    assert metadata_file.exists(), f"Metadata file {metadata_file} does not exist"
+    metadata = _read_json(metadata_file)
+    primary_start_index = metadata.get("primary_start_index", None)
+    primary_end_index = metadata.get("primary_end_index", None)
+    secondary_start_index = metadata.get("secondary_start_index", None)
+    secondary_end_index = metadata.get("secondary_end_index", None)
+
+    if secondary_start_index is None:
+        total_simulated_points = primary_end_index
+        N_pts = primary_start_index
+    else:
+        total_simulated_points = secondary_end_index
+        _first_obj_pts = primary_start_index
+        _second_obj_pts = secondary_start_index - primary_end_index
+        N_pts = _first_obj_pts + _second_obj_pts
+
+    if "fps" in simulation_id:
+        _loc = simulation_id.find("fps_x")
+        if _loc == -1:
+            raise ValueError(
+                f"Failed to find fps factor in simulation_id: {simulation_id}"
+            )
+        _factor = int(simulation_id[_loc + 5 : _loc + 6])
+        assert _factor in [1, 2, 3, 4], f"Invalid fps factor: {_factor}"
+        fps_factor = _factor
+    else:
+        fps_factor = 1
+
+    if interpolate_cameras:
+        n_frames_to_render = video_n_frames * fps_factor
+    else:
+        n_frames_to_render = video_n_frames
+
+    ### load all frames' infos
+    frame_dirs = _list_frame_dirs(exported_sample_dir)  # already sorted
+    frame_infos = _load_frame_infos(frame_dirs)
+
+    ### load all camera data
+    cam_base_params = load_cam_base_params(frame_infos[0])
+    if "static" in sample_id:
+        all_c2w = [
+            np.array(frame_infos[0]["c2w"], dtype=np.float32)
+        ] * n_frames_to_render
+    else:
+        # Load all_c2w from video_info
+        all_c2w_path = (
+            exported_sample_dir / "video_info" / video_info.get("all_c2w", "")
+        )
+        assert all_c2w_path.exists(), f"all_c2w path '{all_c2w_path}' does not exist"
+        all_c2w, _, _ = load_grid(str(all_c2w_path))
+        assert all_c2w.shape == (
+            video_n_frames,
+            4,
+            4,
+        ), f"all_c2w shape {all_c2w.shape} does not match expected shape ({video_n_frames}, 4, 4)"
+        all_c2w = [all_c2w[i] for i in range(video_n_frames)]
+
+        ### Interpolate c2w
+        if interpolate_cameras and fps_factor > 1:
+            all_c2w = interpolate_c2ws(
+                all_c2w, factor=fps_factor
+            )  # N -> N * fps_factor - fps_factor + 1
+
+            if len(all_c2w) < n_frames_to_render:
+                less = n_frames_to_render - len(all_c2w)
+                all_c2w = (
+                    all_c2w + [all_c2w[-1]] * less
+                )  # N * fps_factor - fps_factor + 1 -> N * fps_factor
+
+    ### gather all background images from inpainting results
+    perception_sample_dir = OUT_PERCEPTION_DIR / sample_id
+    _frames_dirs = sorted(
+        [
+            x
+            for x in perception_sample_dir.glob("*")
+            if x.is_dir() and x.stem.startswith("0")
+        ]
+    )
+
+    if "static" in sample_id:
+        background_frames = [
+            _frames_dirs[0] / "inpaint" / "inpainted_all.jpg"
+        ] * n_frames_to_render
+    else:
+        background_frames = [
+            _frames_dirs[0] / "inpaint" / "inpainted_all.jpg"
+        ] * n_frames_to_render
+
+    ### gather all simulation results
+    particles_dir = OUT_SIMULATION_DIR / sample_id / simulation_id / "particles"
+    assert particles_dir.exists(), f"Particles directory {particles_dir} does not exist"
+    print(f"Searching for simulation results in {particles_dir}...")
+    particles_files = sorted(particles_dir.glob("*.npz"))
+
+    if len(particles_files) > n_frames_to_render:
+        particles_files = particles_files[:n_frames_to_render]
+    elif len(particles_files) < n_frames_to_render:
+        short_num = n_frames_to_render - len(particles_files)
+        particles_files = particles_files + [particles_files[-1]] * short_num
+        # print(f"Warning: number of particles files ({len(particles_files)}) does not match number of frames ({n_frames_to_render})")
+        # n_frames_to_render = len(particles_files)
+        # background_frames = background_frames[:n_frames_to_render]
+    else:
+        print("OK: number of particles files matches number of frames")
+
+    ### sanity check
+    assert (
+        len(particles_files)
+        == len(all_c2w)
+        == len(background_frames)
+        == n_frames_to_render
+    )
+
+    ### create output directory
+    output_dir.mkdir(parents=True, exist_ok=True)
+
+    ### build ground plane mesh
+    ground_mesh = build_ground_mesh(video_info, output_dir)
+
+    ### build object mesh
+    # mesh_mitsuba = load_input_model(**get_mesh_path(sample_id))
+    mesh_mitsuba_primary = load_input_model(**primary_obj_path_dict)
+    mesh_mitsuba_secondary = (
+        load_input_model(**secondary_obj_path_dict) if secondary_obj_name else None
+    )
+
+    ### build scene
+    scene_dict = _build_scene(
+        bg_mesh=ground_mesh,
+        obj_mesh_primary=mesh_mitsuba_primary,
+        obj_mesh_secondary=mesh_mitsuba_secondary,
+    )
+
+    ### build render output directories
+    def make_sub_output_dir(output_dir: Path, sub_dir_name: str) -> Path:
+        output_dir = Path(output_dir)
+        sub_dir = output_dir / sub_dir_name
+        sub_dir.mkdir(parents=True, exist_ok=True)
+        return sub_dir
+
+    inpainted_bg_dir = make_sub_output_dir(output_dir, "inpainted_bg")
+    ground_only_dir = make_sub_output_dir(output_dir, "ground_only")
+    obj_only_dir = make_sub_output_dir(output_dir, "obj_only")
+    obj_mask_dir = make_sub_output_dir(output_dir, "obj_mask")
+    obj_ground_dir = make_sub_output_dir(output_dir, "obj_ground")
+    # misc_dir = make_sub_output_dir(output_dir, "misc")
+    final_dir = make_sub_output_dir(output_dir, "final")
+    video_out_dir = make_sub_output_dir(output_dir, "video")
+
+    for i in range(n_frames_to_render):
+        print(f"Rendering frame {i}...")
+        print(f"-" * 100)
+        time_start = time.time()
+        # build new sensor for this frame
+        sensor = _build_sensor(c2w=all_c2w[i], **cam_base_params)
+        cam_pos = all_c2w[i][:3, 3].copy().tolist()
+        add_cam_light_to_scene(scene_dict, cam_pos)
+
+        # DEBUG ONLY: render zero image, check mesh loading
+        if i == 0:
+            img_zero = update_scene_dict_and_render(scene_dict, sensor=sensor)
+            save_image(img_zero, output_dir / f"zero.png")
+        # DEBUG end here
+
+        # update mesh vertices position from physics simulation output
+        # mesh_mitsuba = _update_mitsuba_mesh_positions_from_npz(mesh_mitsuba, particles_files[i])
+        # load simulated particles
+        np_x, _, _ = ParticleIO.read_particles_3d(particles_files[i])
+        np_x_primary = np_x[:primary_start_index]
+        mesh_mitsuba_primary = _update_mitsuba_mesh_positions(
+            mesh_mitsuba_primary, np_x_primary
+        )
+        if secondary_obj_name:
+            np_x_secondary = np_x[primary_end_index:secondary_start_index]
+            mesh_mitsuba_secondary = _update_mitsuba_mesh_positions(
+                mesh_mitsuba_secondary, np_x_secondary
+            )
+
+        # get inpainted background image
+        img_inpainted_bg = Image.open(background_frames[i])
+        img_inpainted_bg = np.array(img_inpainted_bg).astype(np.float32)
+        # save_image(img_inpainted_bg, inpainted_bg_dir / f"{i:05d}.png")
+
+        # render new image for this frame
+        img_ground_only = update_scene_dict_and_render(
+            scene_dict, sensor=sensor, obj_mesh_primary=None
+        )
+        img_obj_only = update_scene_dict_and_render(
+            scene_dict,
+            sensor=sensor,
+            obj_mesh_primary=mesh_mitsuba_primary,
+            obj_mesh_secondary=mesh_mitsuba_secondary,
+            bg_mesh=None,
+        )
+        img_obj_ground = update_scene_dict_and_render(
+            scene_dict,
+            sensor=sensor,
+            obj_mesh_primary=mesh_mitsuba_primary,
+            obj_mesh_secondary=mesh_mitsuba_secondary,
+            bg_mesh=ground_mesh,
+        )
+        # save_image(img_ground_only, ground_only_dir / f"{i:05d}.png")
+        save_image(img_obj_only, obj_only_dir / f"{i:05d}.png")
+        save_image(img_obj_ground, obj_ground_dir / f"{i:05d}.png")
+
+        # compose images
+        img_final = post_process_images(
+            img_inpainted_bg,
+            img_ground_only,
+            img_obj_only,
+            img_obj_ground,
+            i=i,
+            obj_ground_dir=obj_ground_dir,
+            obj_mask_dir=obj_mask_dir,
+        )
+        save_image(img_final, final_dir / f"{i:05d}.png")
+
+        time_elapsed = time.time() - time_start
+        print(f"Frame {i} rendered in {time_elapsed:.1f} seconds")
+
+    print(f"-" * 100)
+    time.sleep(2)
+    print("[green bold]Making video from rendered frames...")
+    make_video_from_frames_dir(final_dir, video_out_dir / f"{sample_id}_final.mp4")
+    make_video_from_frames_dir(
+        obj_ground_dir, video_out_dir / f"{sample_id}_obj_ground.mp4"
+    )
+    make_video_from_frames_dir(
+        obj_only_dir, video_out_dir / f"{sample_id}_obj_only.mp4"
+    )
+
+
+def render_RGB_video(sample_id: str, simulation_id: str, overwrite: bool = False):
+    sim_success_file = OUT_SIMULATION_DIR / sample_id / simulation_id / "success.txt"
+    if not sim_success_file.exists():
+        print(f"Simulation results not found for {sample_id} at {sim_success_file}")
+        exit(3)
+
+    root_success_file = (
+        OUT_RENDERING_DIR / sample_id / simulation_id / "success_render.txt"
+    )
+    if root_success_file.exists() and not overwrite:
+        print(
+            f"  [yellow]✔ Skipped[/yellow] {sample_id} ({simulation_id}) because rendering result exists"
+        )
+        return
+
+    success_files = []
+    for interpolate_cameras in [False, True]:
+        _txt = "more_frames" if interpolate_cameras else "original_length"
+        output_dir = OUT_RENDERING_DIR / sample_id / simulation_id / _txt
+        out_video_path = output_dir / "video" / f"{sample_id}_obj_ground.mp4"
+        success_file = output_dir / "success_render.txt"
+        success_files.append(success_file)
+        if success_file.exists() and out_video_path.exists() and not overwrite:
+            print(
+                f"RGB frames are already rendered for {sample_id} at {_txt}, skipping."
+            )
+            continue
+
+        exported_sample_dir = VIPE_EXPORT_DIR / sample_id
+
+        backup_this_script(output_dir)
+
+        render_simulation_result(
+            exported_sample_dir=exported_sample_dir,
+            output_dir=output_dir,
+            simulation_id=simulation_id,
+            interpolate_cameras=interpolate_cameras,
+        )
+
+        success_file.touch()
+
+        if not interpolate_cameras:
+            out_video_copy = (
+                OUT_RENDERING_DIR
+                / "all_videos"
+                / f"{simulation_id}"
+                / out_video_path.name
+            )
+            out_video_copy.parent.mkdir(parents=True, exist_ok=True)
+            # copy to all_videos
+            if not out_video_copy.exists():
+                shutil.copy(out_video_path, out_video_copy)
+
+    if all([success_file.exists() for success_file in success_files]):
+        root_success_file.touch()
+
+
+if __name__ == "__main__":
+    ...
diff --git a/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/success_flow.txt b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/success_flow.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/success_render.txt b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/success_render.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/video/0000_final.mp4 b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/video/0000_final.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6073ee461b0a2b62c120bf882d0e404ebd8aacca
Binary files /dev/null and b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/video/0000_final.mp4 differ
diff --git a/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/video/0000_flow_visual.mp4 b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/video/0000_flow_visual.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5c1468ac8268cfc44c086a37e51d6ae7b2666231
Binary files /dev/null and b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/video/0000_flow_visual.mp4 differ
diff --git a/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/video/0000_obj_ground.mp4 b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/video/0000_obj_ground.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9f2cc09f3ec19e0d288da7b4a3bd407cd8c8d434
Binary files /dev/null and b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/video/0000_obj_ground.mp4 differ
diff --git a/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/video/0000_obj_only.mp4 b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/video/0000_obj_only.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bb45eb6574cd2ad5cb4b67be74bad4a91e968945
Binary files /dev/null and b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/video/0000_obj_only.mp4 differ
diff --git a/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/zero.png b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/zero.png
new file mode 100644
index 0000000000000000000000000000000000000000..8e6cafe06115e39bf133ed5b4ab387af955b42f5
Binary files /dev/null and b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/zero.png differ
diff --git a/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/success_flow.txt b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/success_flow.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/success_render.txt b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/success_render.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/PSIVG/PSIVG/data_root/OUT_Rendering/all_videos/2026-10-31_run/0000_obj_ground.mp4 b/PSIVG/PSIVG/data_root/OUT_Rendering/all_videos/2026-10-31_run/0000_obj_ground.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d9de20232d28ed8c3f8541f1ada6a9c0664a8021
Binary files /dev/null and b/PSIVG/PSIVG/data_root/OUT_Rendering/all_videos/2026-10-31_run/0000_obj_ground.mp4 differ
diff --git a/PSIVG/PSIVG/data_root/OUT_Simulation/0000/2026-10-31_run/backup/config.json b/PSIVG/PSIVG/data_root/OUT_Simulation/0000/2026-10-31_run/backup/config.json
new file mode 100644
index 0000000000000000000000000000000000000000..388c470f57c3d9df934a3a054e9e7d462cff0cc9
--- /dev/null
+++ b/PSIVG/PSIVG/data_root/OUT_Simulation/0000/2026-10-31_run/backup/config.json
@@ -0,0 +1,32 @@
+{
+    "device": "cpu",
+    "config_file": null,
+    "sample_id": "0000",
+    "perception_dir": "/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/jiayin/PSIVG/PSIVG/data_root/OUT_Perception/0000",
+    "output_dir": "/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/jiayin/PSIVG/PSIVG/data_root/OUT_Simulation/0000/2026-10-31_run",
+    "filling": true,
+    "filling_density": 8,
+    "pull_to_ground": false,
+    "save_video": false,
+    "with_gui": false,
+    "with_ggui": false,
+    "damping": 2.0,
+    "friction": 0.5,
+    "R": 256,
+    "size": 2,
+    "scale": 1.0,
+    "max_num_particles": 1048576,
+    "E_default": 1000000.0,
+    "E_factor_filling": 0.5,
+    "density_default": 1000.0,
+    "extra_rebound": 1.0,
+    "num_frames": 50,
+    "save_point_cloud": true,
+    "obj_rotation_axis": "-x",
+    "rot_speed": 2.0,
+    "FPS": 25,
+    "fps_factor": 4,
+    "velocities": null,
+    "angular_velocity": null,
+    "linear_velocity_scale": 1.0
+}
\ No newline at end of file
diff --git a/PSIVG/PSIVG/data_root/OUT_Simulation/0000/2026-10-31_run/backup/simulation.py b/PSIVG/PSIVG/data_root/OUT_Simulation/0000/2026-10-31_run/backup/simulation.py
new file mode 100644
index 0000000000000000000000000000000000000000..ba74247b1efd58681e07c34751ffa163da12874d
--- /dev/null
+++ b/PSIVG/PSIVG/data_root/OUT_Simulation/0000/2026-10-31_run/backup/simulation.py
@@ -0,0 +1,1078 @@
+import argparse
+import glob
+import json
+import os
+import time
+from dataclasses import dataclass
+from datetime import datetime
+from pathlib import Path
+from typing import Any, Dict, List, Optional, Tuple
+
+import cv2
+import numpy as np
+import taichi as ti
+import trimesh
+from rich import print
+from tqdm import tqdm
+
+from .taichi_mpm import MPMSolver, load_mesh_obj
+from .physics_query import get_physics_data
+from ..constants import (
+    OUT_PERCEPTION_DIR,
+    OUT_SIMULATION_DIR,
+    VIPE_EXPORT_DIR,
+    INPUT_META_DIR,
+)
+
+
+def get_gpu_memory():
+    """Check GPU memory usage."""
+    import torch
+
+    if not torch.cuda.is_available():
+        raise RuntimeError("TORCH: GPU not available")
+    free, total = torch.cuda.mem_get_info()
+    free_gb = free / 1024**3
+    total_gb = total / 1024**3
+    print(f"TORCH: GPU memory usage: {free_gb:.2f} GB / {total_gb:.2f} GB")
+    if free_gb / total_gb < 0.8:
+        print(
+            f"TORCH: GPU memory usage pre-simulation is too high: {free_gb:.2f} GB / {total_gb:.2f} GB"
+        )
+        raise RuntimeError("TORCH: GPU memory usage pre-simulation is too high")
+
+    return int(free_gb - 0.8)
+
+
+@dataclass
+class SimulationConfig:
+    """Configuration class for MPM simulation parameters."""
+
+    # Basic simulation parameters
+    device: str = "gpu"  # "gpu" or "cpu"
+    config_file: str = None
+    sample_id: str = None
+    perception_dir: str = None
+    output_dir: str = None
+
+    filling: bool = True
+    filling_density: int = 8
+    pull_to_ground: bool = False
+    save_video: bool = False
+    with_gui: bool = False
+    with_ggui: bool = False
+
+    # Physics parameters
+    damping: float = 2.0
+    friction: float = 0.5
+    R: int = 256
+    size: int = 2
+    scale: float = 1.0
+    max_num_particles: int = 2**20
+
+    # Young's modulus (Pa)
+    E_default: float = 1.0 * 1e6
+    E_factor_filling: float = 0.5
+    # Density (kg/m^3)
+    density_default: float = 1e3
+    # rebound from surface
+    extra_rebound: float = 1.0
+
+    # Output settings
+    num_frames: int = 50
+    save_point_cloud: bool = True
+
+    # Spinning parameters
+    obj_rotation_axis: str = "-x"
+    rot_speed: float = 2.0
+    FPS: int = 25
+    fps_factor: int = 4
+
+    velocities: np.ndarray = None  # not in use
+    angular_velocity: np.ndarray = None  # not in use
+    linear_velocity_scale: float = 1.0  # not in use
+
+    def __post_init__(self):
+        if self.config_file is not None:
+            assert Path(
+                self.config_file
+            ).exists(), f"Config file does not exist: {self.config_file}"
+            _configs = json.load(open(self.config_file))
+            # use configs to override self
+            for key, value in _configs.items():
+                if key == "output_dir":
+                    continue
+                setattr(self, key, value)
+
+        if self.sample_id is None:
+            assert self.perception_dir is not None, "Input path must be provided"
+            assert self.output_dir is not None, "Output directory must be provided"
+        else:
+            if not self.perception_dir:
+                self.perception_dir = OUT_PERCEPTION_DIR / self.sample_id
+            if not self.output_dir:
+                timestamp = datetime.now().strftime("%Y-%m-%d_%H-%M-%S")
+                self.output_dir = (
+                    OUT_SIMULATION_DIR / self.sample_id / f"v3_debug_{timestamp}"
+                )
+                if self.output_dir.exists():
+                    raise RuntimeError(
+                        f"Output directory already exists: {self.output_dir}"
+                    )
+                self.output_dir.mkdir(parents=True, exist_ok=True)
+
+            # Validate input path
+            assert Path(
+                self.perception_dir
+            ).exists(), f"Input path does not exist: {self.perception_dir}"
+            self.perception_dir = str(self.perception_dir)
+            self.output_dir = str(self.output_dir)
+
+        backup_dir = Path(self.output_dir) / "backup"
+        backup_dir.mkdir(parents=True, exist_ok=True)
+        self.freeze_config(backup_dir / "config.json")
+        self.freeze_simulation_script(backup_dir / "simulation.py")
+
+    def print_to_console(self):
+        """Print the configuration to console."""
+        params = self.__dict__
+        print("=" * 100)
+        for key, value in params.items():
+            print(f"{key}: {value}")
+        print("=" * 100)
+
+    def freeze_config(self, save_path: Path):
+
+        def default(obj):
+            if isinstance(obj, np.ndarray):
+                return obj.tolist()
+            return obj
+
+        with open(save_path, "w") as f:
+            json.dump(self.__dict__, f, indent=4, default=default)
+
+    def freeze_simulation_script(self, save_path: Path):
+        script_path = Path(__file__)
+        script_content = script_path.read_text()
+        with open(save_path, "w") as f:
+            f.write(script_content)
+
+
+class SimulationRenderer:
+    """Handles visualization and rendering for the simulation."""
+
+    def __init__(self, config: SimulationConfig):
+        self.config = config
+        self.gui = None
+        self.window = None
+        self.canvas = None
+        self.scene = None
+        self.camera = None
+        self.video_writer = None
+
+        # Material colors for visualization
+        self.material_colors = np.array(
+            [
+                [0.1, 0.1, 1.0, 0.8],
+                [236.0 / 255.0, 84.0 / 255.0, 59.0 / 255.0, 1.0],
+                [1.0, 1.0, 1.0, 1.0],
+                [1.0, 1.0, 0.0, 1.0],
+                [0.0, 1.0, 0.0, 1.0],
+            ]
+        )
+
+        self._setup_gui()
+        self._setup_video_writer()
+
+    def _setup_gui(self):
+        """Initialize GUI components."""
+        if self.config.with_gui:
+            self.gui = ti.GUI(
+                "MLS-MPM", res=512, background_color=0x112F41, show_gui=True
+            )
+
+        if self.config.with_ggui:
+            res = (512, 512)
+            self.window = ti.ui.Window("Real MPM 3D", res, vsync=True)
+            self.canvas = self.window.get_canvas()
+            self.scene = ti.ui.Scene()
+            self.camera = ti.ui.make_camera()
+            self._setup_camera()
+
+    def _setup_camera(self):
+        """Configure camera settings for GGUI."""
+        if self.camera:
+            self.camera.position(5, 5, 5)
+            self.camera.lookat(5, 5, 10)
+            self.camera.up(0, -1, 0)
+            self.camera.fov(100)
+
+    def _setup_video_writer(self):
+        """Initialize video writer if saving video."""
+        if self.config.save_video:
+            video_files = glob.glob(os.path.join("sim_result", "*.mp4"))
+            next_index = len(video_files) + 1
+            video_output = os.path.join("sim_result", f"{next_index}.mp4")
+            fourcc = cv2.VideoWriter_fourcc(*"mp4v")
+            fps = 24
+            self.video_writer = cv2.VideoWriter(video_output, fourcc, fps, (512, 512))
+
+    @ti.kernel
+    def _set_color(
+        self,
+        ti_color: ti.template(),
+        material_color: ti.types.ndarray(),
+        ti_material: ti.template(),
+    ):
+        """Kernel to set particle colors based on material type."""
+        for I in ti.grouped(ti_material):
+            material_id = ti_material[I]
+            color_4d = ti.Vector([0.0, 0.0, 0.0, 1.0])
+            for d in ti.static(range(3)):
+                color_4d[d] = material_color[material_id, d]
+            ti_color[I] = color_4d
+
+    def render_ggui(self, mpm):
+        """Render using GGUI (3D rendering)."""
+        if not self.config.with_ggui or not self.window:
+            return
+
+        self.camera.track_user_inputs(
+            self.window, movement_speed=0.03, hold_key=ti.ui.RMB
+        )
+        self.scene.set_camera(self.camera)
+        self.scene.ambient_light((0, 0, 0))
+
+        self._set_color(mpm.color_with_alpha, self.material_colors, mpm.material)
+
+        self.scene.particles(mpm.x, per_vertex_color=mpm.color_with_alpha, radius=0.02)
+
+        # Add lighting
+        self.scene.point_light(pos=(0.5, 1.5, 0.5), color=(0.5, 0.5, 0.5))
+        self.scene.point_light(pos=(0.5, 1.5, 1.5), color=(0.5, 0.5, 0.5))
+
+        self.canvas.scene(self.scene)
+        self.window.show()
+
+    def render_gui(self, particles: Dict) -> Optional[np.ndarray]:
+        """Render using traditional GUI (2D projection)."""
+        if not self.config.with_gui or not self.gui:
+            return None
+
+        np_x = particles["position"] / self.config.size
+        screen_x = np_x[:, 0]
+        screen_y = 1 - np_x[:, 2]
+        screen_pos = np.stack([screen_x, screen_y], axis=-1)
+
+        self.gui.circles(screen_pos, radius=1.5, color=particles["color"])
+
+        if self.config.save_video:
+            img = self._capture_frame()
+            self.gui.clear()
+            return img
+        else:
+            self.gui.clear()
+            return None
+
+    def _capture_frame(self) -> np.ndarray:
+        """Capture current frame as image."""
+        img = self.gui.get_image()
+        img = np.array(img)
+        img = (img * 255).astype(np.uint8)
+        img = img[:, :, :3]  # Remove alpha channel
+        img = cv2.cvtColor(img, cv2.COLOR_BGR2RGB)
+        img = cv2.rotate(img, cv2.ROTATE_90_COUNTERCLOCKWISE)
+        return img
+
+    def write_video_frame(self, frame: np.ndarray):
+        """Write frame to video file."""
+        if self.video_writer and frame is not None:
+            self.video_writer.write(frame)
+
+    def cleanup(self):
+        """Release resources."""
+        if self.video_writer:
+            self.video_writer.release()
+
+
+class ParticleManager:
+    """Manages particle operations and mesh loading."""
+
+    def __init__(self, config: SimulationConfig):
+        self.config = config
+        self.center = np.array([config.size / 2, config.size / 2, config.size / 2])
+
+    def transform_pcd(self, pcd: np.ndarray, c2w: np.ndarray) -> np.ndarray:
+        """
+        Assumes pcd has dimension of (N, 3) or (..., 3)
+        Assumes c2w has dimension of (4, 4)
+        """
+        assert pcd.shape[-1] == 3, "pcd must have dimension of (..., 3)"
+        assert c2w.shape == (4, 4), "c2w must be a 2D array of shape (4, 4)"
+        R = c2w[:3, :3]
+        t = c2w[:3, 3]
+        if pcd.ndim != 2:
+            original_shape = pcd.shape[:]
+            out = pcd.reshape(-1, 3) @ R.T + t
+            return out.reshape(original_shape)
+        else:
+            return pcd @ R.T + t
+
+    def normalize_mesh(
+        self,
+        mesh_path: str = None,
+        side=0.1,
+        center_mode="bbox",
+        out_path=None,
+    ):
+        """
+        Center the mesh and uniformly scale it to fit inside a cube of given side length,
+        centered at the origin. Returns (normalized_mesh, 4x4_transform).
+
+        center_mode: "bbox" (AABB center) or "centroid" (mass center)
+        """
+        assert mesh_path is not None, "mesh_path is required"
+        mesh_path = Path(mesh_path)
+        assert mesh_path.exists(), f"Mesh file not found at {mesh_path}"
+        m = trimesh.load(mesh_path)
+
+        if center_mode == "bbox":
+            bounds = m.bounds  # shape (2,3): [min, max]
+            c = bounds.mean(axis=0)  # AABB center
+            extent = (bounds[1] - bounds[0]).max()
+        elif center_mode == "centroid":
+            c = m.centroid  # center of mass (uniform density)
+            extent = m.extents.max()  # AABB largest side (same as above but recomputed)
+        else:
+            raise ValueError("center_mode must be 'bbox' or 'centroid'")
+
+        # Build transform: first translate by -c, then uniform scale so max side == side
+        s = 1.0 if extent == 0 else side / float(extent)
+
+        T = np.eye(4)
+        T[:3, 3] = -c
+
+        S = np.eye(4)
+        S[:3, :3] *= s
+
+        M = S @ T  # scale ∘ translate
+        m.apply_transform(M)
+
+        if out_path is not None:
+            m.export(out_path)
+            return out_path
+        else:
+            return m
+
+    def load_scene_data(
+        self,
+    ) -> Tuple[np.ndarray, np.ndarray, List[str], np.ndarray, np.ndarray]:
+
+        sample_id = self.config.sample_id
+        vipe_exported_dir = VIPE_EXPORT_DIR / sample_id
+        video_info_dir = vipe_exported_dir / "video_info"
+        video_info_path = video_info_dir / "video_info.json"
+        assert (
+            video_info_path.exists()
+        ), f"Video info path does not exist: {video_info_path}"
+
+        # e.g. data_root/OUT_ViPE_Export/2_basketball/frames_info/00000/00000.json
+        frame0_info_path = vipe_exported_dir / "frames_info" / "00000" / "00000.json"
+        assert (
+            frame0_info_path.exists()
+        ), f"Frame 0 info path does not exist: {frame0_info_path}"
+
+        video_info = json.load(open(video_info_path))
+        frame0_info = json.load(open(frame0_info_path))
+
+        ### Load ground plane
+        plane_model = video_info["plane_model"]
+        plane_normal = np.array(video_info["plane_normal"])
+        plane_point = np.array([0, 0, -plane_model[3] / plane_model[2]])
+        gravity_vector = np.array(video_info["gravity_vector"])
+        domain_scale = video_info["domain_scale"]
+        N_frames = video_info["N_frames"]
+
+        ### Load primary object
+        primary_obj_name = frame0_info.get("primary_obj_name")
+        assert (
+            primary_obj_name is not None
+        ), "Primary object is not found in frame 0 info"
+        primary_obj_centroid = np.array(frame0_info["primary_obj_centroid"])
+
+        ### Load secondary object (if exists)
+        secondary_obj_name = frame0_info.get("secondary_obj_name")
+        secondary_obj_centroid = (
+            np.array(frame0_info["secondary_obj_centroid"])
+            if secondary_obj_name
+            else None
+        )
+
+        ### Default physics
+        physics_data = get_physics_data(sample_id)
+        default_physics = physics_data.get("default")
+
+        ### Load primary object mesh
+        _name = primary_obj_name.replace(" ", "_")
+        primary_obj_mesh_path = video_info_dir / "size_estimate_0" / f"{_name}.obj"
+        assert (
+            primary_obj_mesh_path.exists()
+        ), f"Primary object mesh path does not exist: {primary_obj_mesh_path}"
+        primary_obj_mesh = trimesh.load(primary_obj_mesh_path)
+        primary_obj_physics = physics_data.get(primary_obj_name, default_physics)
+        primary_obj_physics = primary_obj_physics.to_mpm()
+        self.extra_rebound = primary_obj_physics["extra_rebound"]
+
+        ### Load secondary object mesh (if exists)
+        if secondary_obj_name:
+            _name = secondary_obj_name.replace(" ", "_")
+            secondary_obj_mesh_path = (
+                video_info_dir / "size_estimate_1" / f"{_name}.obj"
+            )
+            assert (
+                secondary_obj_mesh_path.exists()
+            ), f"Secondary object mesh path does not exist: {secondary_obj_mesh_path}"
+            # secondary_obj_mesh = trimesh.load(secondary_obj_mesh_path)
+            secondary_obj_physics = physics_data.get(
+                secondary_obj_name, default_physics
+            )
+            secondary_obj_physics = secondary_obj_physics.to_mpm()
+        else:
+            secondary_obj_mesh_path = None
+            secondary_obj_physics = None
+
+        ###############################################################################
+
+        # compute instantaneous linear velocity vector for object
+        key_frame_idx = 5
+        FPS = int(self.config.FPS)
+        key_frame_info_path = (
+            vipe_exported_dir
+            / "frames_info"
+            / f"{key_frame_idx:05d}"
+            / f"{key_frame_idx:05d}.json"
+        )
+        key_frame_info = json.load(open(key_frame_info_path))
+
+        delta_d = np.array(key_frame_info["primary_obj_displacement"])
+        delta_t = 1.0 / FPS * key_frame_idx
+        linear_velocity = delta_d / delta_t
+        if "multi" in sample_id:
+            linear_velocity *= 2.0
+
+        def build_rot_axis(obj_rotation_axis: str) -> np.ndarray | None:
+            obj_rotation_axis = str(obj_rotation_axis).lower()
+            if len(obj_rotation_axis) < 1 or len(obj_rotation_axis) > 2:
+                return None
+            _axis_val = -1.0 if "-" in obj_rotation_axis else 1.0
+            if "x" in obj_rotation_axis:
+                return np.array([_axis_val, 0.0, 0.0])
+            elif "y" in obj_rotation_axis:
+                return np.array([0.0, _axis_val, 0.0])
+            elif "z" in obj_rotation_axis:
+                return np.array([0.0, 0.0, _axis_val])
+            else:
+                return None
+
+        rot_axis_fallback = np.array([-1.0, 0.0, 0.0])
+        rot_axis = build_rot_axis(self.config.obj_rotation_axis)
+        if rot_axis is None:
+            rot_axis = rot_axis_fallback
+            rot_speed = 0.0
+
+        rot_speed = self.config.rot_speed
+
+        return dict(
+            primary_obj_name=primary_obj_name,
+            primary_obj_mesh_path=primary_obj_mesh_path,
+            primary_obj_centroid=primary_obj_centroid,
+            primary_obj_physics=primary_obj_physics,
+            secondary_obj_name=secondary_obj_name,
+            secondary_obj_mesh_path=secondary_obj_mesh_path,
+            secondary_obj_centroid=secondary_obj_centroid,
+            secondary_obj_physics=secondary_obj_physics,
+            plane_normal=plane_normal,
+            plane_point=plane_point,
+            gravity=gravity_vector,
+            domain_scale=domain_scale,
+            n_surface_particles=len(primary_obj_mesh.vertices),
+            linear_velocity=linear_velocity,
+            rot_points=primary_obj_mesh.vertices,
+            rot_center=primary_obj_centroid,
+            rot_axis=rot_axis,
+            rot_speed=rot_speed,  # rad/s
+            N_frames=N_frames,
+        )
+
+    def load_mesh_data(
+        self, mesh_file: str
+    ) -> Tuple[np.ndarray, np.ndarray, np.ndarray]:
+        """Load and transform mesh data."""
+        # Setup path and import here to avoid circular imports
+        # project_dir = os.path.abspath(
+        #     os.path.join(os.path.dirname(__file__), os.pardir)
+        # )
+        # sys.path.append(project_dir)
+        # from engine.mesh_io import load_mesh_obj
+
+        vertices, triangles, colors = load_mesh_obj(str(mesh_file), offset=[0, 0, 0])
+
+        return vertices, triangles, colors
+
+    def velocities_from_rotation(
+        self,
+        rot_points,
+        rot_center,
+        rot_axis,
+        rot_speed,
+        units="rad/s",
+        **kwargs,
+    ):
+        """
+        Compute instantaneous vertex velocities for a rigid body rotating about a center.
+
+        Parameters
+        ----------
+        points : (N, 3) array_like
+            World-space vertex positions.
+        center : (3,) array_like
+            World-space rotation center C (point on the axis).
+        axis : (3,) array_like
+            Rotation axis direction. Need not be unit; will be normalized.
+            Right-hand rule defines positive rotation direction.
+        speed : float
+            Magnitude of rotational speed (>=0). Interpreted per `units`.
+        units : {"rad/s", "deg/s", "rpm"}, optional
+            Units of `speed`. Default "rad/s".
+
+        Returns
+        -------
+        velocities : (N, 3) ndarray
+            Instantaneous linear velocity vectors at each point.
+        speeds : (N,) ndarray
+            Speed magnitudes at each point.
+
+        Notes
+        -----
+        - If you also have a body translational velocity v0, add it to `velocities`.
+        - Points lying exactly on the axis have zero velocity.
+        """
+        P = np.asarray(rot_points, dtype=float)
+        C = np.asarray(rot_center, dtype=float).reshape(3)
+        a = np.asarray(rot_axis, dtype=float).reshape(3)
+
+        if P.ndim != 2 or P.shape[1] != 3:
+            raise ValueError("`points` must be an (N, 3) array.")
+        if (
+            not np.all(np.isfinite(P))
+            or not np.all(np.isfinite(C))
+            or not np.all(np.isfinite(a))
+        ):
+            raise ValueError("Inputs must be finite numbers.")
+        na = np.linalg.norm(a)
+        if na == 0:
+            raise ValueError("Axis vector must be non-zero.")
+        a_hat = a / na
+
+        # Convert speed to radians per second
+        if units == "rad/s":
+            S = float(rot_speed)
+        elif units == "deg/s":
+            S = np.deg2rad(float(rot_speed))
+        elif units == "rpm":
+            S = float(rot_speed) * 2.0 * np.pi / 60.0
+        else:
+            raise ValueError("units must be one of {'rad/s','deg/s','rpm'}")
+
+        # Angular velocity vector
+        omega = S * a_hat  # shape (3,)
+
+        # Position vectors relative to center
+        r = P - C  # shape (N, 3)
+
+        # Velocity via ω × r
+        velocities = np.cross(omega, r)  # shape (N, 3)
+
+        # Speed magnitudes (||v||). Equivalent to S * distance-to-axis.
+        # speeds = np.linalg.norm(velocities, axis=1)
+
+        return velocities
+
+    @staticmethod
+    def convert_colors(colors: np.ndarray) -> np.ndarray:
+        """Convert colors to decimal format for rendering."""
+        return np.zeros_like(colors)[:, 0]
+        dec_colors = (colors * 255).astype(np.uint8)
+        return dec_colors[:, 0] * 65536 + dec_colors[:, 1] * 256 + dec_colors[:, 2]
+
+
+class MPMSimulation:
+    """Main simulation class that orchestrates the MPM simulation."""
+
+    def __init__(self, config: SimulationConfig):
+        self.config = config
+        self.renderer = SimulationRenderer(config)
+        self.particle_manager = ParticleManager(config)
+        self.mpm = None
+        self.output_dir = None
+        self.extra_rebound = self.config.extra_rebound
+        self.metadata = {}
+
+        # self.config.print_to_console()
+
+        self._create_output_directory()
+        self._initialize_taichi()
+
+    def _initialize_taichi(self):
+        """Initialize Taichi with appropriate settings."""
+        if self.config.device == "cpu":
+            ti.init(arch=ti.cpu)
+            print("[green bold]Initialized Taichi with CPU\n\n")
+        else:
+            device_memory_GB = get_gpu_memory()
+            print(f"device_memory_GB: {device_memory_GB}")
+            ti.init(
+                arch=ti.gpu,
+                device_memory_GB=device_memory_GB,
+                debug=False,
+                # random_seed=42,
+            )
+            print(
+                f"[green bold]Initialized Taichi with {device_memory_GB} GB of GPU memory\n\n"
+            )
+
+    def _create_output_directory(self):
+        """Create output directory for simulation results."""
+        if self.config.output_dir is None:
+            raise ValueError("Output directory not configured")
+        else:
+            self.output_dir = Path(self.config.output_dir)
+
+        self.output_dir.mkdir(parents=True, exist_ok=True)
+        if self.config.save_point_cloud:
+            self.point_cloud_dir = self.output_dir / "point_cloud"
+            self.point_cloud_dir.mkdir(parents=True, exist_ok=True)
+
+        self.log_file_path = self.output_dir / "log.txt"
+        self.log_file = open(self.log_file_path, "w")
+
+    def log(self, message: str):
+        """Log a message to the log file."""
+        if self.log_file:
+            self.log_file.write(message + "\n")
+            self.log_file.flush()
+        else:
+            print(
+                "[yellow]Warn: Log file not initialized, printing to console instead."
+            )
+            print(message)
+
+    def _generate_unique_colors(self, num_points: int) -> np.ndarray:
+        """Generate unique colors for each point based on its index using a spectrum.
+
+        Args:
+            num_points: Number of points to generate colors for
+
+        Returns:
+            Array of shape (num_points, 3) with RGB colors in range [0, 1]
+        """
+        colors = np.zeros((num_points, 3))
+
+        for i in range(num_points):
+            # Use a spectrum-based approach with HSV color space
+            # Map index to hue value (0 to 1) for a full spectrum
+            hue = i / max(1, num_points - 1)  # Normalize to [0, 1]
+
+            # Convert HSV to RGB
+            # Using a rainbow spectrum: red -> orange -> yellow -> green -> blue -> purple
+            # This creates a smooth color transition across all points
+
+            # HSV to RGB conversion
+            h = hue * 6  # Scale to [0, 6]
+            c = 1.0  # Chroma (saturation)
+            x = c * (1 - abs(h % 2 - 1))
+            m = 0.0  # Value offset
+
+            if h < 1:
+                r, g, b = c, x, 0
+            elif h < 2:
+                r, g, b = x, c, 0
+            elif h < 3:
+                r, g, b = 0, c, x
+            elif h < 4:
+                r, g, b = 0, x, c
+            elif h < 5:
+                r, g, b = x, 0, c
+            else:
+                r, g, b = c, 0, x
+
+            colors[i] = [r, g, b]
+
+        return colors
+
+    def _setup_mpm_solver(self):
+        """Initialize the MPM solver with configuration."""
+        self.mpm = MPMSolver(
+            res=(self.config.R, self.config.R, self.config.R),
+            quant=False,  # by default it was True
+            size=self.config.size,
+            unbounded=False,
+            dt_scale=1,
+            E_scale=1,
+            use_diff_E=True,
+            use_adaptive_dt=True,
+            support_plasticity=True,
+            use_ggui=self.config.with_ggui,
+            max_num_particles=self.config.max_num_particles,
+            drag_damping=self.config.damping,
+        )
+
+    def _setup_physics_environment(
+        self,
+        gravity: np.ndarray,
+        plane_point: np.ndarray,
+        plane_normal: np.ndarray,
+        **kwargs,
+    ):
+        """Setup gravity and colliders."""
+        self.log(f"Setting gravity: {gravity}")
+        self.mpm.set_gravity(gravity.tolist())
+
+        self.mpm.add_surface_collider(
+            point=plane_point,
+            normal=plane_normal,
+            surface=self.mpm.surface_separate,
+            friction=self.config.friction,
+            rebound=self.extra_rebound,
+        )
+
+    def add_surface_particles(
+        self,
+        obj_mesh_path: str,
+        E: float,
+        rho: float,
+        velocities: np.ndarray = None,
+        triangles_list: list = [],
+        material=MPMSolver.material_elastic,
+        **kwargs,
+    ) -> List[np.ndarray]:
+        """Add surface particles for all objects."""
+        # Load and process mesh
+        vertices, triangles, colors = self.particle_manager.load_mesh_data(
+            obj_mesh_path
+        )
+        if velocities is None:
+            velocities = np.zeros((len(vertices), 3))
+        if len(velocities) > len(vertices):
+            # NOTE: this is a temporary fix to avoid unmatched number of particles and velocities
+            # the velocities points are from trimesh vertices
+            # the vertices are from load_mesh_data
+            # it is wierd that only some times, it has a few points difference
+            velocities = velocities[: len(vertices)]
+
+        self.mpm.add_particles_with_velocities(
+            particles=np.ascontiguousarray(vertices),
+            velocities=np.ascontiguousarray(velocities),
+            colors=self.particle_manager.convert_colors(colors),
+            material=material,
+            E=E,
+            nu=0.2,
+            rho=rho,
+        )
+        triangles_list.append(triangles)
+        return triangles_list
+
+    def add_volume_particles(
+        self,
+        triangles_list: List[np.ndarray],
+        E: float,
+        sample_density: int,
+        material=MPMSolver.material_elastic,
+    ):
+        dummy_velocity = np.array([0.0, 0.0, 0.0])
+        particles = self.mpm.particle_info()
+        start_index = len(particles["position"])
+        self.mpm.add_mesh(
+            triangles=triangles_list[-1],
+            material=material,
+            sample_density=sample_density,
+            velocity=dummy_velocity,
+            E=E,
+            nu=0.2,
+            rho=1000,
+        )
+        particles = self.mpm.particle_info()
+        end_index = len(particles["position"])
+        filled_xyzs = particles["position"][start_index:end_index]
+
+        return filled_xyzs, start_index, end_index
+
+    def _save_metadata(self):
+        with open(self.output_dir / "metadata.json", "w") as f:
+            json.dump(self.metadata, f, indent=4)
+
+    def _run_simulation_loop(self, num_frames: int, fps: int):
+        """Execute the main simulation loop."""
+        start_time = time.time()
+        SAVE_POINTS = True
+        _idx_colors = None
+        particles_dir = self.output_dir / "particles"
+        particles_dir.mkdir(parents=True, exist_ok=True)
+        dt = 1.0 / fps
+
+        for frame in tqdm(range(num_frames), desc="Simulation frames"):
+            frame_start = time.time()
+
+            # Render and save if needed
+            if self.config.with_gui and frame % 1 == 0:
+                particles = self.mpm.particle_info()
+                image = self.renderer.render_gui(particles)
+
+                if image is not None:
+                    self.renderer.write_video_frame(image)
+                    # Save frame and point cloud periodically
+                    if frame % 5 == 0:
+                        cv2.imwrite(f"sim_result/frames/frame_{frame:04d}.png", image)
+
+            if SAVE_POINTS:
+                info = self.mpm.particle_info()
+                particles3D = info["position"]
+                if _idx_colors is None:
+                    _N_points = len(particles3D)
+                    _idx_colors = self._generate_unique_colors(_N_points)
+                point_cloud = trimesh.points.PointCloud(particles3D, colors=_idx_colors)
+                point_cloud_save_path = self.point_cloud_dir / f"{frame:05d}.ply"
+                point_cloud.export(point_cloud_save_path)
+
+            # Save particle data
+            particle_save_path = particles_dir / f"{frame:05d}.npz"
+            self.mpm.write_particles(particle_save_path)
+
+            # Render GGUI
+            if self.config.with_ggui:
+                self.renderer.render_ggui(self.mpm)
+
+            # Step simulation
+            # self.mpm.step(1e-2, print_stat=False)
+            self.mpm.step(dt, print_stat=False)
+
+            frame_time = time.time() - frame_start
+            if frame % 20 == 0:
+                total_time = time.time() - start_time
+                self.log(f"Frame {frame}: {frame_time:.3f}s, Total: {total_time:.3f}s")
+
+    def run(self):
+        """Execute the complete simulation."""
+        self.log("Starting MPM simulation...")
+        self.log(
+            f"Configuration: filling={self.config.filling}, R={self.config.R}, size={self.config.size}"
+        )
+
+        # Load scene data
+        scene_data = self.particle_manager.load_scene_data()
+
+        # Compute vertices-wise velocities
+        linear_velocity = scene_data["linear_velocity"]  # (3, )
+        n_surface_particles = scene_data["n_surface_particles"]  # int
+        linear_vels = np.tile(linear_velocity, (n_surface_particles, 1))  # (N, 3)
+        if scene_data["rot_speed"] > 0:
+            # compute rotational velocities
+            rot_vels = self.particle_manager.velocities_from_rotation(
+                rot_points=scene_data["rot_points"],
+                rot_center=scene_data["rot_center"],
+                rot_axis=scene_data["rot_axis"],
+                rot_speed=scene_data["rot_speed"],
+            )
+            assert linear_vels.shape == rot_vels.shape, "Unexpected shape error"
+            # combines linear and rotational velocities
+            velocities = linear_vels + rot_vels
+        else:
+            velocities = linear_vels
+
+        # Initialize MPM solver class
+        self._setup_mpm_solver()
+        # Setup gravity and set ground plane as a surface collider
+        self._setup_physics_environment(**scene_data)
+
+        primary_obj_physics = scene_data["primary_obj_physics"]
+        triangles_list = []
+        try:
+            # Add particles for primary object
+            triangles_list = self.add_surface_particles(
+                obj_mesh_path=scene_data["primary_obj_mesh_path"],
+                velocities=velocities,
+                E=primary_obj_physics["E"] * 1_000_000,  # convert MPa to Pa
+                rho=primary_obj_physics["rho"],
+                triangles_list=triangles_list,
+                material=MPMSolver.material_elastic,
+            )
+        except Exception as e:
+            print(f"Error in self.add_surface_particles: {e}")
+            print(f"n_surface_particles: {n_surface_particles}")
+            print(f"velocities.shape: {velocities.shape}")
+            raise e
+
+        if self.config.filling:
+            print("Adding volume filling particles for primary object...")
+            filled_xyzs, start_index, end_index = self.add_volume_particles(
+                sample_density=self.config.filling_density,
+                E=primary_obj_physics["E"] * self.config.E_factor_filling * 1_000_000,
+                triangles_list=triangles_list,
+                material=MPMSolver.material_elastic,
+            )
+            n_volume_particles = end_index - start_index
+            self.metadata["primary_n_surface_particles"] = n_surface_particles
+            self.metadata["primary_n_volume_particles"] = n_volume_particles
+            self.metadata["primary_start_index"] = start_index
+            self.metadata["primary_end_index"] = end_index
+
+            print(f"Number of Surface Particles: {n_surface_particles}")
+            print(f"Number of Volume Particles : {n_volume_particles}")
+            vol_linear_vels = np.tile(linear_velocity, (n_volume_particles, 1))
+            vol_rot_vels = self.particle_manager.velocities_from_rotation(
+                rot_points=filled_xyzs,
+                rot_center=scene_data["rot_center"],
+                rot_axis=scene_data["rot_axis"],
+                rot_speed=scene_data["rot_speed"],
+            )
+            vol_vels = vol_linear_vels + vol_rot_vels
+            # overwrite velocities
+            self.mpm.overwrite_velocities(
+                start_index=start_index,
+                end_index=end_index,
+                velocities=vol_vels,
+            )
+        else:
+            print("No volume filling is performed.")
+
+        #######################################################################
+        ### Add secondary object if exists
+
+        secondary_obj_mesh_path = scene_data["secondary_obj_mesh_path"]
+        secondary_obj_physics = scene_data["secondary_obj_physics"]
+        if None not in (secondary_obj_mesh_path, secondary_obj_physics):
+            try:
+                # Add particles for secondary object
+                triangles_list = self.add_surface_particles(
+                    obj_mesh_path=secondary_obj_mesh_path,
+                    E=secondary_obj_physics["E"] * 1_000_000,
+                    rho=secondary_obj_physics["rho"],
+                )
+            except Exception as e:
+                print(f"Error when adding particles for secondary object: {e}")
+                raise e
+
+            if self.config.filling:
+                print("Adding volume filling particles for secondary object...")
+                filled_xyzs, start_index, end_index = self.add_volume_particles(
+                    sample_density=self.config.filling_density,
+                    E=secondary_obj_physics["E"]
+                    * self.config.E_factor_filling
+                    * 1_000_000,
+                    triangles_list=triangles_list,
+                    material=MPMSolver.material_elastic,
+                )
+                n_volume_particles = end_index - start_index
+                _n_surface_particles = start_index - self.metadata["primary_end_index"]
+                self.metadata["secondary_n_surface_particles"] = _n_surface_particles
+                self.metadata["secondary_n_volume_particles"] = n_volume_particles
+                self.metadata["secondary_start_index"] = start_index
+                self.metadata["secondary_end_index"] = end_index
+
+                print(f"Number of Surface Particles: {_n_surface_particles}")
+                print(f"Number of Volume Particles : {n_volume_particles}")
+
+        # Run simulation
+        num_frames = scene_data.get("N_frames", int(self.config.num_frames))
+        if self.config.fps_factor is not None:
+            fps_factor = int(self.config.fps_factor)
+            if fps_factor not in [1, 2, 3, 4, 8]:
+                fps_factor = 1
+
+            num_frames = num_frames * fps_factor
+            fps = int(self.config.FPS) * fps_factor
+
+        self._run_simulation_loop(num_frames=num_frames, fps=fps)
+
+        self._save_metadata()
+
+        # Cleanup
+        self.renderer.cleanup()
+
+        self.log(f"Simulation completed. Results saved to: {self.output_dir}")
+
+        success_file = self.output_dir / "success.txt"
+        success_file.touch()
+
+
+def run_mpm_simulation(overwrite: bool = False, **kwargs):
+    sample_id = kwargs["sample_id"]
+    meta_json_path = INPUT_META_DIR / f"{sample_id}.json"
+    metadata = json.load(open(meta_json_path)) if meta_json_path.exists() else {}
+    rot_axis = metadata.get("primary_obj_rot_axis")
+
+    config = SimulationConfig(**kwargs)
+    if rot_axis is not None:
+        config.obj_rotation_axis = rot_axis
+    success_file = Path(config.output_dir) / "success.txt"
+    if success_file.exists() and not overwrite:
+        print(
+            f"  [yellow]✔ Skipped[/yellow] {config.sample_id} because simulation result exists"
+        )
+        return
+
+    simulation = MPMSimulation(config)
+    simulation.run()
+
+
+def main():
+    parser = argparse.ArgumentParser(description="Run MPM simulation with config file")
+    parser.add_argument("--config_file", type=str, help="Path to configuration file")
+    parser.add_argument("--sample_id", type=str, help="Sample ID")
+    parser.add_argument("--perception_dir", type=str, help="Perception directory")
+    parser.add_argument("--output_dir", type=str, help="Output directory")
+    parser.add_argument(
+        "--device", type=str, help="Device", default="cpu", choices=["cpu", "gpu"]
+    )
+
+    parser.add_argument("--rot_speed", type=float, help="Rotation speed", default=5.0)
+    parser.add_argument(
+        "--obj_rotation_axis",
+        type=str,
+        help="Rotation axis choice (x, y, z, x-, y-, z-)",
+        default="-x",
+    )
+    parser.add_argument("--damping", type=float, help="Damping", default=2.5)
+    parser.add_argument("--friction", type=float, help="Friction", default=2.5)
+    parser.add_argument(
+        "--num_frames", type=int, help="Number of steps to simulate", default=50
+    )
+    parser.add_argument(
+        "--e_value", type=float, help="Young's modulus (MPa)", default=0.5
+    )
+    parser.add_argument("--fps_factor", type=int, help="FPS factor", default=1)
+    args = parser.parse_args()
+
+    E_default = args.e_value * 1e6  # convert MPa to Pa
+
+    # Create config and run simulation
+    config = SimulationConfig(
+        device=args.device,
+        config_file=args.config_file,
+        sample_id=args.sample_id,
+        perception_dir=args.perception_dir,
+        output_dir=args.output_dir,
+        num_frames=args.num_frames,
+        E_default=E_default,
+        rot_speed=args.rot_speed,
+        damping=args.damping,
+        friction=args.friction,
+        obj_rotation_axis=args.obj_rotation_axis,
+        fps_factor=args.fps_factor,
+    )
+    simulation = MPMSimulation(config)
+    simulation.run()
+
+
+if __name__ == "__main__":
+    main()
diff --git a/PSIVG/PSIVG/data_root/OUT_Simulation/0000/2026-10-31_run/log.txt b/PSIVG/PSIVG/data_root/OUT_Simulation/0000/2026-10-31_run/log.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b7c34c4132b0bec7959a6c5c2614350c3a913082
--- /dev/null
+++ b/PSIVG/PSIVG/data_root/OUT_Simulation/0000/2026-10-31_run/log.txt
@@ -0,0 +1,14 @@
+Starting MPM simulation...
+Configuration: filling=True, R=256, size=2
+Setting gravity: [ 0.07384279 -2.5440695   0.84466265]
+Frame 0: 3.994s, Total: 3.996s
+Frame 20: 1.424s, Total: 42.826s
+Frame 40: 1.786s, Total: 81.733s
+Frame 60: 1.853s, Total: 127.743s
+Frame 80: 1.833s, Total: 185.567s
+Frame 100: 2.641s, Total: 232.586s
+Frame 120: 2.069s, Total: 273.088s
+Frame 140: 2.435s, Total: 312.845s
+Frame 160: 3.072s, Total: 358.903s
+Frame 180: 1.980s, Total: 401.523s
+Simulation completed. Results saved to: /mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/jiayin/PSIVG/PSIVG/data_root/OUT_Simulation/0000/2026-10-31_run
diff --git a/PSIVG/PSIVG/data_root/OUT_Simulation/0000/2026-10-31_run/metadata.json b/PSIVG/PSIVG/data_root/OUT_Simulation/0000/2026-10-31_run/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..c10b6df533e58abe68862251379e498401390105
--- /dev/null
+++ b/PSIVG/PSIVG/data_root/OUT_Simulation/0000/2026-10-31_run/metadata.json
@@ -0,0 +1,10 @@
+{
+    "primary_n_surface_particles": 5735,
+    "primary_n_volume_particles": 337,
+    "primary_start_index": 5735,
+    "primary_end_index": 6072,
+    "secondary_n_surface_particles": 15398,
+    "secondary_n_volume_particles": 1990,
+    "secondary_start_index": 21470,
+    "secondary_end_index": 23460
+}
\ No newline at end of file
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