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index 0000000000000000000000000000000000000000..c7cfbccaa1041606a84ca803e52f57a3c9c6e7f8
--- /dev/null
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+        "/home/ubuntu/miniconda3/envs/env_nerfstudio/bin/python",
+        "-m",
+        "nerfstudio.scripts.process_data",
+        "video",
+        "--data",
+        "/home/ubuntu/workspace/wayne/qoowa/src/nimble_brain/python/src/nimble/brain/sim/outputs/splat/station.MOV",
+        "--num-frames-target",
+        "500",
+        "--output-dir",
+        "/home/ubuntu/workspace/wayne/qoowa/src/nimble_brain/python/src/nimble/brain/sim/outputs/splat/station/data",
+        "--num-downscales",
+        "3",
+        "--camera-type",
+        "perspective",
+        "--matching-method",
+        "sequential",
+        "--sfm-tool",
+        "colmap",
+        "--no-gpu"
+      ]
+    },
+    {
+      "stage": "train",
+      "method": "splatfacto-big",
+      "iters": 15000,
+      "seconds": 370.434695482254,
+      "config": "/home/ubuntu/workspace/wayne/qoowa/src/nimble_brain/python/src/nimble/brain/sim/outputs/splat/station/train/station/splatfacto/2026-08-24_171357/config.yml",
+      "cmd": [
+        "/home/ubuntu/miniconda3/envs/env_nerfstudio/bin/python",
+        "-m",
+        "nerfstudio.scripts.train",
+        "splatfacto-big",
+        "--data",
+        "/home/ubuntu/workspace/wayne/qoowa/src/nimble_brain/python/src/nimble/brain/sim/outputs/splat/station/data",
+        "--output-dir",
+        "/home/ubuntu/workspace/wayne/qoowa/src/nimble_brain/python/src/nimble/brain/sim/outputs/splat/station/train",
+        "--experiment-name",
+        "station",
+        "--timestamp",
+        "2026-08-24_171357",
+        "--max-num-iterations",
+        "15000",
+        "--steps-per-save",
+        "2000",
+        "--vis",
+        "viewer",
+        "--viewer.quit-on-train-completion",
+        "True",
+        "--viewer.websocket-port",
+        "7007"
+      ]
+    },
+    {
+      "stage": "export",
+      "seconds": 34.148250102996826,
+      "ply": "/home/ubuntu/workspace/wayne/qoowa/src/nimble_brain/python/src/nimble/brain/sim/outputs/splat/station/export/splat.ply",
+      "cmd": [
+        "/home/ubuntu/miniconda3/envs/env_nerfstudio/bin/python",
+        "-m",
+        "nerfstudio.scripts.exporter",
+        "gaussian-splat",
+        "--load-config",
+        "/home/ubuntu/workspace/wayne/qoowa/src/nimble_brain/python/src/nimble/brain/sim/outputs/splat/station/train/station/splatfacto/2026-08-24_171357/config.yml",
+        "--output-dir",
+        "/home/ubuntu/workspace/wayne/qoowa/src/nimble_brain/python/src/nimble/brain/sim/outputs/splat/station/export",
+        "--ply-color-mode",
+        "sh_coeffs"
+      ]
+    },
+    {
+      "stage": "usdz",
+      "format": "nurec",
+      "seconds": 4.730079889297485,
+      "usdz": "/home/ubuntu/workspace/wayne/qoowa/src/nimble_brain/python/src/nimble/brain/sim/outputs/splat/station/usdz/station.usdz",
+      "cmd": [
+        "/home/ubuntu/miniconda3/envs/env_3dgrut/bin/python",
+        "-m",
+        "threedgrut.export.scripts.transcode",
+        "/home/ubuntu/workspace/wayne/qoowa/src/nimble_brain/python/src/nimble/brain/sim/outputs/splat/station/export/splat.ply",
+        "-o",
+        "/home/ubuntu/workspace/wayne/qoowa/src/nimble_brain/python/src/nimble/brain/sim/outputs/splat/station/usdz/station.usdz",
+        "--format",
+        "nurec"
+      ]
+    }
+  ]
+}
diff --git a/station/train/station/splatfacto/2026-08-24_170753/config.yml b/station/train/station/splatfacto/2026-08-24_170753/config.yml
new file mode 100644
index 0000000000000000000000000000000000000000..b562a8021dde4c7eb29f0bac0c16331396238266
--- /dev/null
+++ b/station/train/station/splatfacto/2026-08-24_170753/config.yml
@@ -0,0 +1,276 @@
+!!python/object:nerfstudio.engine.trainer.TrainerConfig
+_target: !!python/name:nerfstudio.engine.trainer.Trainer ''
+data: &id003 !!python/object/apply:pathlib.PosixPath
+- /
+- home
+- ubuntu
+- workspace
+- wayne
+- qoowa
+- src
+- nimble_brain
+- python
+- src
+- nimble
+- brain
+- sim
+- outputs
+- splat
+- station
+- data
+experiment_name: station
+gradient_accumulation_steps: {}
+load_checkpoint: null
+load_config: null
+load_dir: null
+load_scheduler: true
+load_step: null
+log_gradients: false
+logging: !!python/object:nerfstudio.configs.base_config.LoggingConfig
+  local_writer: !!python/object:nerfstudio.configs.base_config.LocalWriterConfig
+    _target: !!python/name:nerfstudio.utils.writer.LocalWriter ''
+    enable: true
+    max_log_size: 10
+    stats_to_track: !!python/tuple
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - Train Iter (time)
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - Train Rays / Sec
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - Test PSNR
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - Vis Rays / Sec
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - Test Rays / Sec
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - ETA (time)
+  max_buffer_size: 20
+  profiler: basic
+  relative_log_dir: !!python/object/apply:pathlib.PosixPath []
+  steps_per_log: 10
+machine: !!python/object:nerfstudio.configs.base_config.MachineConfig
+  device_type: cuda
+  dist_url: auto
+  machine_rank: 0
+  num_devices: 1
+  num_machines: 1
+  seed: 42
+max_num_iterations: 15000
+method_name: splatfacto
+mixed_precision: false
+optimizers:
+  bilateral_grid:
+    optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig
+      _target: &id001 !!python/name:torch.optim.adam.Adam ''
+      eps: 1.0e-15
+      lr: 0.002
+      max_norm: null
+      weight_decay: 0
+    scheduler: !!python/object:nerfstudio.engine.schedulers.ExponentialDecaySchedulerConfig
+      _target: &id002 !!python/name:nerfstudio.engine.schedulers.ExponentialDecayScheduler ''
+      lr_final: 0.0001
+      lr_pre_warmup: 0
+      max_steps: 30000
+      ramp: cosine
+      warmup_steps: 1000
+  camera_opt:
+    optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig
+      _target: *id001
+      eps: 1.0e-15
+      lr: 0.0001
+      max_norm: null
+      weight_decay: 0
+    scheduler: !!python/object:nerfstudio.engine.schedulers.ExponentialDecaySchedulerConfig
+      _target: *id002
+      lr_final: 5.0e-07
+      lr_pre_warmup: 0
+      max_steps: 30000
+      ramp: cosine
+      warmup_steps: 1000
+  features_dc:
+    optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig
+      _target: *id001
+      eps: 1.0e-15
+      lr: 0.0025
+      max_norm: null
+      weight_decay: 0
+    scheduler: null
+  features_rest:
+    optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig
+      _target: *id001
+      eps: 1.0e-15
+      lr: 0.000125
+      max_norm: null
+      weight_decay: 0
+    scheduler: null
+  means:
+    optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig
+      _target: *id001
+      eps: 1.0e-15
+      lr: 0.00016
+      max_norm: null
+      weight_decay: 0
+    scheduler: !!python/object:nerfstudio.engine.schedulers.ExponentialDecaySchedulerConfig
+      _target: *id002
+      lr_final: 1.6e-06
+      lr_pre_warmup: 1.0e-08
+      max_steps: 30000
+      ramp: cosine
+      warmup_steps: 0
+  opacities:
+    optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig
+      _target: *id001
+      eps: 1.0e-15
+      lr: 0.05
+      max_norm: null
+      weight_decay: 0
+    scheduler: null
+  quats:
+    optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig
+      _target: *id001
+      eps: 1.0e-15
+      lr: 0.001
+      max_norm: null
+      weight_decay: 0
+    scheduler: null
+  scales:
+    optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig
+      _target: *id001
+      eps: 1.0e-15
+      lr: 0.005
+      max_norm: null
+      weight_decay: 0
+    scheduler: null
+output_dir: !!python/object/apply:pathlib.PosixPath
+- /
+- home
+- ubuntu
+- workspace
+- wayne
+- qoowa
+- src
+- nimble_brain
+- python
+- src
+- nimble
+- brain
+- sim
+- outputs
+- splat
+- station
+- train
+pipeline: !!python/object:nerfstudio.pipelines.base_pipeline.VanillaPipelineConfig
+  _target: !!python/name:nerfstudio.pipelines.base_pipeline.VanillaPipeline ''
+  datamanager: !!python/object:nerfstudio.data.datamanagers.full_images_datamanager.FullImageDatamanagerConfig
+    _target: !!python/name:nerfstudio.data.datamanagers.full_images_datamanager.FullImageDatamanager ''
+    cache_compressed_images: false
+    cache_images: gpu
+    cache_images_type: uint8
+    camera_res_scale_factor: 1.0
+    data: *id003
+    dataloader_num_workers: 4
+    dataparser: !!python/object:nerfstudio.data.dataparsers.nerfstudio_dataparser.NerfstudioDataParserConfig
+      _target: !!python/name:nerfstudio.data.dataparsers.nerfstudio_dataparser.Nerfstudio ''
+      auto_scale_poses: true
+      center_method: poses
+      data: !!python/object/apply:pathlib.PosixPath []
+      depth_unit_scale_factor: 0.001
+      downscale_factor: null
+      eval_interval: 8
+      eval_mode: fraction
+      load_3D_points: true
+      mask_color: null
+      orientation_method: up
+      scale_factor: 1.0
+      scene_scale: 1.0
+      train_split_fraction: 0.9
+    eval_num_images_to_sample_from: -1
+    eval_num_times_to_repeat_images: -1
+    fps_reset_every: 100
+    images_on_gpu: false
+    masks_on_gpu: false
+    max_thread_workers: null
+    prefetch_factor: 4
+    train_cameras_sampling_seed: 42
+    train_cameras_sampling_strategy: random
+  model: !!python/object:nerfstudio.models.splatfacto.SplatfactoModelConfig
+    _target: !!python/name:nerfstudio.models.splatfacto.SplatfactoModel ''
+    background_color: random
+    camera_optimizer: !!python/object:nerfstudio.cameras.camera_optimizers.CameraOptimizerConfig
+      _target: !!python/name:nerfstudio.cameras.camera_optimizers.CameraOptimizer ''
+      mode: 'off'
+      optimizer: null
+      rot_l2_penalty: 0.001
+      scheduler: null
+      trans_l2_penalty: 0.01
+    collider_params:
+      far_plane: 6.0
+      near_plane: 2.0
+    color_corrected_metrics: false
+    cull_alpha_thresh: 0.005
+    cull_scale_thresh: 0.5
+    cull_screen_size: 0.15
+    densify_grad_thresh: 0.0005
+    densify_size_thresh: 0.01
+    enable_collider: true
+    eval_num_rays_per_chunk: 4096
+    grid_shape: !!python/tuple
+    - 16
+    - 16
+    - 8
+    loss_coefficients:
+      rgb_loss_coarse: 1.0
+      rgb_loss_fine: 1.0
+    max_gauss_ratio: 10.0
+    max_gs_num: 1000000
+    mcmc_opacity_reg: 0.01
+    mcmc_scale_reg: 0.01
+    n_split_samples: 2
+    noise_lr: 500000.0
+    num_downscales: 2
+    num_random: 50000
+    output_depth_during_training: false
+    prompt: null
+    random_init: false
+    random_scale: 10.0
+    rasterize_mode: classic
+    refine_every: 100
+    reset_alpha_every: 30
+    resolution_schedule: 3000
+    sh_degree: 3
+    sh_degree_interval: 1000
+    split_screen_size: 0.05
+    ssim_lambda: 0.2
+    stop_screen_size_at: 4000
+    stop_split_at: 15000
+    strategy: default
+    use_absgrad: true
+    use_bilateral_grid: false
+    use_scale_regularization: false
+    warmup_length: 500
+project_name: nerfstudio-project
+prompt: null
+relative_model_dir: !!python/object/apply:pathlib.PosixPath
+- nerfstudio_models
+save_only_latest_checkpoint: true
+start_paused: false
+steps_per_eval_all_images: 1000
+steps_per_eval_batch: 0
+steps_per_eval_image: 100
+steps_per_save: 2000
+timestamp: 2026-08-24_170753
+use_grad_scaler: false
+viewer: !!python/object:nerfstudio.configs.base_config.ViewerConfig
+  camera_frustum_scale: 0.1
+  default_composite_depth: true
+  image_format: jpeg
+  jpeg_quality: 75
+  make_share_url: false
+  max_num_display_images: 512
+  num_rays_per_chunk: 32768
+  quit_on_train_completion: true
+  relative_log_filename: viewer_log_filename.txt
+  websocket_host: 0.0.0.0
+  websocket_port: 7007
+  websocket_port_default: 7007
+vis: viewer
diff --git a/station/train/station/splatfacto/2026-08-24_170753/dataparser_transforms.json b/station/train/station/splatfacto/2026-08-24_170753/dataparser_transforms.json
new file mode 100644
index 0000000000000000000000000000000000000000..e33db48cf23e3d3a77c9b3bcd520d1eea2d2f0fa
--- /dev/null
+++ b/station/train/station/splatfacto/2026-08-24_170753/dataparser_transforms.json
@@ -0,0 +1,23 @@
+{
+    "transform": [
+        [
+            0.8984185457229614,
+            0.4357174336910248,
+            0.054721612483263016,
+            -0.11365481466054916
+        ],
+        [
+            0.054721612483263016,
+            -0.23471961915493011,
+            0.9705216288566589,
+            0.04969002306461334
+        ],
+        [
+            0.4357174336910248,
+            -0.8689401745796204,
+            -0.23471961915493011,
+            -0.11527958512306213
+        ]
+    ],
+    "scale": 0.17606076266983134
+}
\ No newline at end of file
diff --git a/station/train/station/splatfacto/2026-08-24_171059/config.yml b/station/train/station/splatfacto/2026-08-24_171059/config.yml
new file mode 100644
index 0000000000000000000000000000000000000000..f1cd21a475e5c0c0d4d669116c566865e96cd5be
--- /dev/null
+++ b/station/train/station/splatfacto/2026-08-24_171059/config.yml
@@ -0,0 +1,276 @@
+!!python/object:nerfstudio.engine.trainer.TrainerConfig
+_target: !!python/name:nerfstudio.engine.trainer.Trainer ''
+data: &id003 !!python/object/apply:pathlib.PosixPath
+- /
+- home
+- ubuntu
+- workspace
+- wayne
+- qoowa
+- src
+- nimble_brain
+- python
+- src
+- nimble
+- brain
+- sim
+- outputs
+- splat
+- station
+- data
+experiment_name: station
+gradient_accumulation_steps: {}
+load_checkpoint: null
+load_config: null
+load_dir: null
+load_scheduler: true
+load_step: null
+log_gradients: false
+logging: !!python/object:nerfstudio.configs.base_config.LoggingConfig
+  local_writer: !!python/object:nerfstudio.configs.base_config.LocalWriterConfig
+    _target: !!python/name:nerfstudio.utils.writer.LocalWriter ''
+    enable: true
+    max_log_size: 10
+    stats_to_track: !!python/tuple
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - Train Iter (time)
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - Train Rays / Sec
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - Test PSNR
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - Vis Rays / Sec
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - Test Rays / Sec
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - ETA (time)
+  max_buffer_size: 20
+  profiler: basic
+  relative_log_dir: !!python/object/apply:pathlib.PosixPath []
+  steps_per_log: 10
+machine: !!python/object:nerfstudio.configs.base_config.MachineConfig
+  device_type: cuda
+  dist_url: auto
+  machine_rank: 0
+  num_devices: 1
+  num_machines: 1
+  seed: 42
+max_num_iterations: 15000
+method_name: splatfacto
+mixed_precision: false
+optimizers:
+  bilateral_grid:
+    optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig
+      _target: &id001 !!python/name:torch.optim.adam.Adam ''
+      eps: 1.0e-15
+      lr: 0.002
+      max_norm: null
+      weight_decay: 0
+    scheduler: !!python/object:nerfstudio.engine.schedulers.ExponentialDecaySchedulerConfig
+      _target: &id002 !!python/name:nerfstudio.engine.schedulers.ExponentialDecayScheduler ''
+      lr_final: 0.0001
+      lr_pre_warmup: 0
+      max_steps: 30000
+      ramp: cosine
+      warmup_steps: 1000
+  camera_opt:
+    optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig
+      _target: *id001
+      eps: 1.0e-15
+      lr: 0.0001
+      max_norm: null
+      weight_decay: 0
+    scheduler: !!python/object:nerfstudio.engine.schedulers.ExponentialDecaySchedulerConfig
+      _target: *id002
+      lr_final: 5.0e-07
+      lr_pre_warmup: 0
+      max_steps: 30000
+      ramp: cosine
+      warmup_steps: 1000
+  features_dc:
+    optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig
+      _target: *id001
+      eps: 1.0e-15
+      lr: 0.0025
+      max_norm: null
+      weight_decay: 0
+    scheduler: null
+  features_rest:
+    optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig
+      _target: *id001
+      eps: 1.0e-15
+      lr: 0.000125
+      max_norm: null
+      weight_decay: 0
+    scheduler: null
+  means:
+    optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig
+      _target: *id001
+      eps: 1.0e-15
+      lr: 0.00016
+      max_norm: null
+      weight_decay: 0
+    scheduler: !!python/object:nerfstudio.engine.schedulers.ExponentialDecaySchedulerConfig
+      _target: *id002
+      lr_final: 1.6e-06
+      lr_pre_warmup: 1.0e-08
+      max_steps: 30000
+      ramp: cosine
+      warmup_steps: 0
+  opacities:
+    optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig
+      _target: *id001
+      eps: 1.0e-15
+      lr: 0.05
+      max_norm: null
+      weight_decay: 0
+    scheduler: null
+  quats:
+    optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig
+      _target: *id001
+      eps: 1.0e-15
+      lr: 0.001
+      max_norm: null
+      weight_decay: 0
+    scheduler: null
+  scales:
+    optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig
+      _target: *id001
+      eps: 1.0e-15
+      lr: 0.005
+      max_norm: null
+      weight_decay: 0
+    scheduler: null
+output_dir: !!python/object/apply:pathlib.PosixPath
+- /
+- home
+- ubuntu
+- workspace
+- wayne
+- qoowa
+- src
+- nimble_brain
+- python
+- src
+- nimble
+- brain
+- sim
+- outputs
+- splat
+- station
+- train
+pipeline: !!python/object:nerfstudio.pipelines.base_pipeline.VanillaPipelineConfig
+  _target: !!python/name:nerfstudio.pipelines.base_pipeline.VanillaPipeline ''
+  datamanager: !!python/object:nerfstudio.data.datamanagers.full_images_datamanager.FullImageDatamanagerConfig
+    _target: !!python/name:nerfstudio.data.datamanagers.full_images_datamanager.FullImageDatamanager ''
+    cache_compressed_images: false
+    cache_images: gpu
+    cache_images_type: uint8
+    camera_res_scale_factor: 1.0
+    data: *id003
+    dataloader_num_workers: 4
+    dataparser: !!python/object:nerfstudio.data.dataparsers.nerfstudio_dataparser.NerfstudioDataParserConfig
+      _target: !!python/name:nerfstudio.data.dataparsers.nerfstudio_dataparser.Nerfstudio ''
+      auto_scale_poses: true
+      center_method: poses
+      data: !!python/object/apply:pathlib.PosixPath []
+      depth_unit_scale_factor: 0.001
+      downscale_factor: null
+      eval_interval: 8
+      eval_mode: fraction
+      load_3D_points: true
+      mask_color: null
+      orientation_method: up
+      scale_factor: 1.0
+      scene_scale: 1.0
+      train_split_fraction: 0.9
+    eval_num_images_to_sample_from: -1
+    eval_num_times_to_repeat_images: -1
+    fps_reset_every: 100
+    images_on_gpu: false
+    masks_on_gpu: false
+    max_thread_workers: null
+    prefetch_factor: 4
+    train_cameras_sampling_seed: 42
+    train_cameras_sampling_strategy: random
+  model: !!python/object:nerfstudio.models.splatfacto.SplatfactoModelConfig
+    _target: !!python/name:nerfstudio.models.splatfacto.SplatfactoModel ''
+    background_color: random
+    camera_optimizer: !!python/object:nerfstudio.cameras.camera_optimizers.CameraOptimizerConfig
+      _target: !!python/name:nerfstudio.cameras.camera_optimizers.CameraOptimizer ''
+      mode: 'off'
+      optimizer: null
+      rot_l2_penalty: 0.001
+      scheduler: null
+      trans_l2_penalty: 0.01
+    collider_params:
+      far_plane: 6.0
+      near_plane: 2.0
+    color_corrected_metrics: false
+    cull_alpha_thresh: 0.005
+    cull_scale_thresh: 0.5
+    cull_screen_size: 0.15
+    densify_grad_thresh: 0.0005
+    densify_size_thresh: 0.01
+    enable_collider: true
+    eval_num_rays_per_chunk: 4096
+    grid_shape: !!python/tuple
+    - 16
+    - 16
+    - 8
+    loss_coefficients:
+      rgb_loss_coarse: 1.0
+      rgb_loss_fine: 1.0
+    max_gauss_ratio: 10.0
+    max_gs_num: 1000000
+    mcmc_opacity_reg: 0.01
+    mcmc_scale_reg: 0.01
+    n_split_samples: 2
+    noise_lr: 500000.0
+    num_downscales: 2
+    num_random: 50000
+    output_depth_during_training: false
+    prompt: null
+    random_init: false
+    random_scale: 10.0
+    rasterize_mode: classic
+    refine_every: 100
+    reset_alpha_every: 30
+    resolution_schedule: 3000
+    sh_degree: 3
+    sh_degree_interval: 1000
+    split_screen_size: 0.05
+    ssim_lambda: 0.2
+    stop_screen_size_at: 4000
+    stop_split_at: 15000
+    strategy: default
+    use_absgrad: true
+    use_bilateral_grid: false
+    use_scale_regularization: false
+    warmup_length: 500
+project_name: nerfstudio-project
+prompt: null
+relative_model_dir: !!python/object/apply:pathlib.PosixPath
+- nerfstudio_models
+save_only_latest_checkpoint: true
+start_paused: false
+steps_per_eval_all_images: 1000
+steps_per_eval_batch: 0
+steps_per_eval_image: 100
+steps_per_save: 2000
+timestamp: 2026-08-24_171059
+use_grad_scaler: false
+viewer: !!python/object:nerfstudio.configs.base_config.ViewerConfig
+  camera_frustum_scale: 0.1
+  default_composite_depth: true
+  image_format: jpeg
+  jpeg_quality: 75
+  make_share_url: false
+  max_num_display_images: 512
+  num_rays_per_chunk: 32768
+  quit_on_train_completion: true
+  relative_log_filename: viewer_log_filename.txt
+  websocket_host: 0.0.0.0
+  websocket_port: 7007
+  websocket_port_default: 7007
+vis: tensorboard
diff --git a/station/train/station/splatfacto/2026-08-24_171059/dataparser_transforms.json b/station/train/station/splatfacto/2026-08-24_171059/dataparser_transforms.json
new file mode 100644
index 0000000000000000000000000000000000000000..e33db48cf23e3d3a77c9b3bcd520d1eea2d2f0fa
--- /dev/null
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@@ -0,0 +1,23 @@
+{
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+            0.8984185457229614,
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+}
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diff --git a/station/train/station/splatfacto/2026-08-24_171059/events.out.tfevents.1787591467.GPU-007.2830629.0 b/station/train/station/splatfacto/2026-08-24_171059/events.out.tfevents.1787591467.GPU-007.2830629.0
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diff --git a/station/train/station/splatfacto/2026-08-24_171357/config.yml b/station/train/station/splatfacto/2026-08-24_171357/config.yml
new file mode 100644
index 0000000000000000000000000000000000000000..81c4a3663ae240e81d5fcf6861734304815e8d92
--- /dev/null
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+!!python/object:nerfstudio.engine.trainer.TrainerConfig
+_target: !!python/name:nerfstudio.engine.trainer.Trainer ''
+data: &id003 !!python/object/apply:pathlib.PosixPath
+- /
+- home
+- ubuntu
+- workspace
+- wayne
+- qoowa
+- src
+- nimble_brain
+- python
+- src
+- nimble
+- brain
+- sim
+- outputs
+- splat
+- station
+- data
+experiment_name: station
+gradient_accumulation_steps: {}
+load_checkpoint: null
+load_config: null
+load_dir: null
+load_scheduler: true
+load_step: null
+log_gradients: false
+logging: !!python/object:nerfstudio.configs.base_config.LoggingConfig
+  local_writer: !!python/object:nerfstudio.configs.base_config.LocalWriterConfig
+    _target: !!python/name:nerfstudio.utils.writer.LocalWriter ''
+    enable: true
+    max_log_size: 10
+    stats_to_track: !!python/tuple
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - Train Iter (time)
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - Train Rays / Sec
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - Test PSNR
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - Vis Rays / Sec
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - Test Rays / Sec
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - ETA (time)
+  max_buffer_size: 20
+  profiler: basic
+  relative_log_dir: !!python/object/apply:pathlib.PosixPath []
+  steps_per_log: 10
+machine: !!python/object:nerfstudio.configs.base_config.MachineConfig
+  device_type: cuda
+  dist_url: auto
+  machine_rank: 0
+  num_devices: 1
+  num_machines: 1
+  seed: 42
+max_num_iterations: 15000
+method_name: splatfacto
+mixed_precision: false
+optimizers:
+  bilateral_grid:
+    optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig
+      _target: &id001 !!python/name:torch.optim.adam.Adam ''
+      eps: 1.0e-15
+      lr: 0.002
+      max_norm: null
+      weight_decay: 0
+    scheduler: !!python/object:nerfstudio.engine.schedulers.ExponentialDecaySchedulerConfig
+      _target: &id002 !!python/name:nerfstudio.engine.schedulers.ExponentialDecayScheduler ''
+      lr_final: 0.0001
+      lr_pre_warmup: 0
+      max_steps: 30000
+      ramp: cosine
+      warmup_steps: 1000
+  camera_opt:
+    optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig
+      _target: *id001
+      eps: 1.0e-15
+      lr: 0.0001
+      max_norm: null
+      weight_decay: 0
+    scheduler: !!python/object:nerfstudio.engine.schedulers.ExponentialDecaySchedulerConfig
+      _target: *id002
+      lr_final: 5.0e-07
+      lr_pre_warmup: 0
+      max_steps: 30000
+      ramp: cosine
+      warmup_steps: 1000
+  features_dc:
+    optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig
+      _target: *id001
+      eps: 1.0e-15
+      lr: 0.0025
+      max_norm: null
+      weight_decay: 0
+    scheduler: null
+  features_rest:
+    optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig
+      _target: *id001
+      eps: 1.0e-15
+      lr: 0.000125
+      max_norm: null
+      weight_decay: 0
+    scheduler: null
+  means:
+    optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig
+      _target: *id001
+      eps: 1.0e-15
+      lr: 0.00016
+      max_norm: null
+      weight_decay: 0
+    scheduler: !!python/object:nerfstudio.engine.schedulers.ExponentialDecaySchedulerConfig
+      _target: *id002
+      lr_final: 1.6e-06
+      lr_pre_warmup: 1.0e-08
+      max_steps: 30000
+      ramp: cosine
+      warmup_steps: 0
+  opacities:
+    optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig
+      _target: *id001
+      eps: 1.0e-15
+      lr: 0.05
+      max_norm: null
+      weight_decay: 0
+    scheduler: null
+  quats:
+    optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig
+      _target: *id001
+      eps: 1.0e-15
+      lr: 0.001
+      max_norm: null
+      weight_decay: 0
+    scheduler: null
+  scales:
+    optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig
+      _target: *id001
+      eps: 1.0e-15
+      lr: 0.005
+      max_norm: null
+      weight_decay: 0
+    scheduler: null
+output_dir: !!python/object/apply:pathlib.PosixPath
+- /
+- home
+- ubuntu
+- workspace
+- wayne
+- qoowa
+- src
+- nimble_brain
+- python
+- src
+- nimble
+- brain
+- sim
+- outputs
+- splat
+- station
+- train
+pipeline: !!python/object:nerfstudio.pipelines.base_pipeline.VanillaPipelineConfig
+  _target: !!python/name:nerfstudio.pipelines.base_pipeline.VanillaPipeline ''
+  datamanager: !!python/object:nerfstudio.data.datamanagers.full_images_datamanager.FullImageDatamanagerConfig
+    _target: !!python/name:nerfstudio.data.datamanagers.full_images_datamanager.FullImageDatamanager ''
+    cache_compressed_images: false
+    cache_images: gpu
+    cache_images_type: uint8
+    camera_res_scale_factor: 1.0
+    data: *id003
+    dataloader_num_workers: 4
+    dataparser: !!python/object:nerfstudio.data.dataparsers.nerfstudio_dataparser.NerfstudioDataParserConfig
+      _target: !!python/name:nerfstudio.data.dataparsers.nerfstudio_dataparser.Nerfstudio ''
+      auto_scale_poses: true
+      center_method: poses
+      data: !!python/object/apply:pathlib.PosixPath []
+      depth_unit_scale_factor: 0.001
+      downscale_factor: null
+      eval_interval: 8
+      eval_mode: fraction
+      load_3D_points: true
+      mask_color: null
+      orientation_method: up
+      scale_factor: 1.0
+      scene_scale: 1.0
+      train_split_fraction: 0.9
+    eval_num_images_to_sample_from: -1
+    eval_num_times_to_repeat_images: -1
+    fps_reset_every: 100
+    images_on_gpu: false
+    masks_on_gpu: false
+    max_thread_workers: null
+    prefetch_factor: 4
+    train_cameras_sampling_seed: 42
+    train_cameras_sampling_strategy: random
+  model: !!python/object:nerfstudio.models.splatfacto.SplatfactoModelConfig
+    _target: !!python/name:nerfstudio.models.splatfacto.SplatfactoModel ''
+    background_color: random
+    camera_optimizer: !!python/object:nerfstudio.cameras.camera_optimizers.CameraOptimizerConfig
+      _target: !!python/name:nerfstudio.cameras.camera_optimizers.CameraOptimizer ''
+      mode: 'off'
+      optimizer: null
+      rot_l2_penalty: 0.001
+      scheduler: null
+      trans_l2_penalty: 0.01
+    collider_params:
+      far_plane: 6.0
+      near_plane: 2.0
+    color_corrected_metrics: false
+    cull_alpha_thresh: 0.005
+    cull_scale_thresh: 0.5
+    cull_screen_size: 0.15
+    densify_grad_thresh: 0.0005
+    densify_size_thresh: 0.01
+    enable_collider: true
+    eval_num_rays_per_chunk: 4096
+    grid_shape: !!python/tuple
+    - 16
+    - 16
+    - 8
+    loss_coefficients:
+      rgb_loss_coarse: 1.0
+      rgb_loss_fine: 1.0
+    max_gauss_ratio: 10.0
+    max_gs_num: 1000000
+    mcmc_opacity_reg: 0.01
+    mcmc_scale_reg: 0.01
+    n_split_samples: 2
+    noise_lr: 500000.0
+    num_downscales: 2
+    num_random: 50000
+    output_depth_during_training: false
+    prompt: null
+    random_init: false
+    random_scale: 10.0
+    rasterize_mode: classic
+    refine_every: 100
+    reset_alpha_every: 30
+    resolution_schedule: 3000
+    sh_degree: 3
+    sh_degree_interval: 1000
+    split_screen_size: 0.05
+    ssim_lambda: 0.2
+    stop_screen_size_at: 4000
+    stop_split_at: 15000
+    strategy: default
+    use_absgrad: true
+    use_bilateral_grid: false
+    use_scale_regularization: false
+    warmup_length: 500
+project_name: nerfstudio-project
+prompt: null
+relative_model_dir: !!python/object/apply:pathlib.PosixPath
+- nerfstudio_models
+save_only_latest_checkpoint: true
+start_paused: false
+steps_per_eval_all_images: 1000
+steps_per_eval_batch: 0
+steps_per_eval_image: 100
+steps_per_save: 2000
+timestamp: 2026-08-24_171357
+use_grad_scaler: false
+viewer: !!python/object:nerfstudio.configs.base_config.ViewerConfig
+  camera_frustum_scale: 0.1
+  default_composite_depth: true
+  image_format: jpeg
+  jpeg_quality: 75
+  make_share_url: false
+  max_num_display_images: 512
+  num_rays_per_chunk: 32768
+  quit_on_train_completion: true
+  relative_log_filename: viewer_log_filename.txt
+  websocket_host: 0.0.0.0
+  websocket_port: 7007
+  websocket_port_default: 7007
+vis: viewer
diff --git a/station/train/station/splatfacto/2026-08-24_171357/dataparser_transforms.json b/station/train/station/splatfacto/2026-08-24_171357/dataparser_transforms.json
new file mode 100644
index 0000000000000000000000000000000000000000..e33db48cf23e3d3a77c9b3bcd520d1eea2d2f0fa
--- /dev/null
+++ b/station/train/station/splatfacto/2026-08-24_171357/dataparser_transforms.json
@@ -0,0 +1,23 @@
+{
+    "transform": [
+        [
+            0.8984185457229614,
+            0.4357174336910248,
+            0.054721612483263016,
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+            -0.23471961915493011,
+            -0.11527958512306213
+        ]
+    ],
+    "scale": 0.17606076266983134
+}
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diff --git a/station/train/station/splatfacto/2026-08-24_171357/nerfstudio_models/step-000014999.ckpt b/station/train/station/splatfacto/2026-08-24_171357/nerfstudio_models/step-000014999.ckpt
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+image_path=/home/ubuntu/workspace/wayne/qoowa/src/nimble_brain/python/src/nimble/brain/sim/outputs/splat/station_2/data/images
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