diff --git a/dataset_toolkits/blender_script/render.py b/dataset_toolkits/blender_script/render.py
new file mode 100644
index 0000000..1fbd586
--- /dev/null
+++ b/dataset_toolkits/blender_script/render.py
@@ -0,0 +1,528 @@
+import argparse, sys, os, math, re, glob
+from typing import *
+import bpy
+from mathutils import Vector, Matrix
+import numpy as np
+import json
+import glob
+
+
+"""=============== BLENDER ==============="""
+
+IMPORT_FUNCTIONS: Dict[str, Callable] = {
+    "obj": bpy.ops.import_scene.obj,
+    "glb": bpy.ops.import_scene.gltf,
+    "gltf": bpy.ops.import_scene.gltf,
+    "usd": bpy.ops.import_scene.usd,
+    "fbx": bpy.ops.import_scene.fbx,
+    "stl": bpy.ops.import_mesh.stl,
+    "usda": bpy.ops.import_scene.usda,
+    "dae": bpy.ops.wm.collada_import,
+    "ply": bpy.ops.import_mesh.ply,
+    "abc": bpy.ops.wm.alembic_import,
+    "blend": bpy.ops.wm.append,
+}
+
+EXT = {
+    'PNG': 'png',
+    'JPEG': 'jpg',
+    'OPEN_EXR': 'exr',
+    'TIFF': 'tiff',
+    'BMP': 'bmp',
+    'HDR': 'hdr',
+    'TARGA': 'tga'
+}
+
+def init_render(engine='CYCLES', resolution=512, geo_mode=False):
+    bpy.context.scene.render.engine = engine
+    bpy.context.scene.render.resolution_x = resolution
+    bpy.context.scene.render.resolution_y = resolution
+    bpy.context.scene.render.resolution_percentage = 100
+    bpy.context.scene.render.image_settings.file_format = 'PNG'
+    bpy.context.scene.render.image_settings.color_mode = 'RGBA'
+    bpy.context.scene.render.film_transparent = True
+    
+    bpy.context.scene.cycles.device = 'GPU'
+    bpy.context.scene.cycles.samples = 128 if not geo_mode else 1
+    bpy.context.scene.cycles.filter_type = 'BOX'
+    bpy.context.scene.cycles.filter_width = 1
+    bpy.context.scene.cycles.diffuse_bounces = 1
+    bpy.context.scene.cycles.glossy_bounces = 1
+    bpy.context.scene.cycles.transparent_max_bounces = 3 if not geo_mode else 0
+    bpy.context.scene.cycles.transmission_bounces = 3 if not geo_mode else 1
+    bpy.context.scene.cycles.use_denoising = True
+        
+    bpy.context.preferences.addons['cycles'].preferences.get_devices()
+    bpy.context.preferences.addons['cycles'].preferences.compute_device_type = 'CUDA'
+    
+def init_nodes(save_depth=False, save_normal=False, save_albedo=False, save_mist=False):
+    if not any([save_depth, save_normal, save_albedo, save_mist]):
+        return {}, {}
+    outputs = {}
+    spec_nodes = {}
+    
+    bpy.context.scene.use_nodes = True
+    bpy.context.scene.view_layers['View Layer'].use_pass_z = save_depth
+    bpy.context.scene.view_layers['View Layer'].use_pass_normal = save_normal
+    bpy.context.scene.view_layers['View Layer'].use_pass_diffuse_color = save_albedo
+    bpy.context.scene.view_layers['View Layer'].use_pass_mist = save_mist
+    
+    nodes = bpy.context.scene.node_tree.nodes
+    links = bpy.context.scene.node_tree.links
+    for n in nodes:
+        nodes.remove(n)
+    
+    render_layers = nodes.new('CompositorNodeRLayers')
+    
+    if save_depth:
+        depth_file_output = nodes.new('CompositorNodeOutputFile')
+        depth_file_output.base_path = ''
+        depth_file_output.file_slots[0].use_node_format = True
+        depth_file_output.format.file_format = 'PNG'
+        depth_file_output.format.color_depth = '16'
+        depth_file_output.format.color_mode = 'BW'
+        # Remap to 0-1
+        map = nodes.new(type="CompositorNodeMapRange")
+        map.inputs[1].default_value = 0  # (min value you will be getting)
+        map.inputs[2].default_value = 10 # (max value you will be getting)
+        map.inputs[3].default_value = 0  # (min value you will map to)
+        map.inputs[4].default_value = 1  # (max value you will map to)
+        
+        links.new(render_layers.outputs['Depth'], map.inputs[0])
+        links.new(map.outputs[0], depth_file_output.inputs[0])
+        
+        outputs['depth'] = depth_file_output
+        spec_nodes['depth_map'] = map
+    
+    if save_normal:
+        normal_file_output = nodes.new('CompositorNodeOutputFile')
+        normal_file_output.base_path = ''
+        normal_file_output.file_slots[0].use_node_format = True
+        normal_file_output.format.file_format = 'OPEN_EXR'
+        normal_file_output.format.color_mode = 'RGB'
+        normal_file_output.format.color_depth = '16'
+        
+        links.new(render_layers.outputs['Normal'], normal_file_output.inputs[0])
+        
+        outputs['normal'] = normal_file_output
+    
+    if save_albedo:
+        albedo_file_output = nodes.new('CompositorNodeOutputFile')
+        albedo_file_output.base_path = ''
+        albedo_file_output.file_slots[0].use_node_format = True
+        albedo_file_output.format.file_format = 'PNG'
+        albedo_file_output.format.color_mode = 'RGBA'
+        albedo_file_output.format.color_depth = '8'
+        
+        alpha_albedo = nodes.new('CompositorNodeSetAlpha')
+        
+        links.new(render_layers.outputs['DiffCol'], alpha_albedo.inputs['Image'])
+        links.new(render_layers.outputs['Alpha'], alpha_albedo.inputs['Alpha'])
+        links.new(alpha_albedo.outputs['Image'], albedo_file_output.inputs[0])
+        
+        outputs['albedo'] = albedo_file_output
+        
+    if save_mist:
+        bpy.data.worlds['World'].mist_settings.start = 0
+        bpy.data.worlds['World'].mist_settings.depth = 10
+        
+        mist_file_output = nodes.new('CompositorNodeOutputFile')
+        mist_file_output.base_path = ''
+        mist_file_output.file_slots[0].use_node_format = True
+        mist_file_output.format.file_format = 'PNG'
+        mist_file_output.format.color_mode = 'BW'
+        mist_file_output.format.color_depth = '16'
+        
+        links.new(render_layers.outputs['Mist'], mist_file_output.inputs[0])
+        
+        outputs['mist'] = mist_file_output
+        
+    return outputs, spec_nodes
+
+def init_scene() -> None:
+    """Resets the scene to a clean state.
+
+    Returns:
+        None
+    """
+    # delete everything
+    for obj in bpy.data.objects:
+        bpy.data.objects.remove(obj, do_unlink=True)
+
+    # delete all the materials
+    for material in bpy.data.materials:
+        bpy.data.materials.remove(material, do_unlink=True)
+
+    # delete all the textures
+    for texture in bpy.data.textures:
+        bpy.data.textures.remove(texture, do_unlink=True)
+
+    # delete all the images
+    for image in bpy.data.images:
+        bpy.data.images.remove(image, do_unlink=True)
+
+def init_camera():
+    cam = bpy.data.objects.new('Camera', bpy.data.cameras.new('Camera'))
+    bpy.context.collection.objects.link(cam)
+    bpy.context.scene.camera = cam
+    cam.data.sensor_height = cam.data.sensor_width = 32
+    cam_constraint = cam.constraints.new(type='TRACK_TO')
+    cam_constraint.track_axis = 'TRACK_NEGATIVE_Z'
+    cam_constraint.up_axis = 'UP_Y'
+    cam_empty = bpy.data.objects.new("Empty", None)
+    cam_empty.location = (0, 0, 0)
+    bpy.context.scene.collection.objects.link(cam_empty)
+    cam_constraint.target = cam_empty
+    return cam
+
+def init_lighting():
+    # Clear existing lights
+    bpy.ops.object.select_all(action="DESELECT")
+    bpy.ops.object.select_by_type(type="LIGHT")
+    bpy.ops.object.delete()
+    
+    # Create key light
+    default_light = bpy.data.objects.new("Default_Light", bpy.data.lights.new("Default_Light", type="POINT"))
+    bpy.context.collection.objects.link(default_light)
+    default_light.data.energy = 1000
+    default_light.location = (4, 1, 6)
+    default_light.rotation_euler = (0, 0, 0)
+    
+    # create top light
+    top_light = bpy.data.objects.new("Top_Light", bpy.data.lights.new("Top_Light", type="AREA"))
+    bpy.context.collection.objects.link(top_light)
+    top_light.data.energy = 10000
+    top_light.location = (0, 0, 10)
+    top_light.scale = (100, 100, 100)
+    
+    # create bottom light
+    bottom_light = bpy.data.objects.new("Bottom_Light", bpy.data.lights.new("Bottom_Light", type="AREA"))
+    bpy.context.collection.objects.link(bottom_light)
+    bottom_light.data.energy = 1000
+    bottom_light.location = (0, 0, -10)
+    bottom_light.rotation_euler = (0, 0, 0)
+    
+    return {
+        "default_light": default_light,
+        "top_light": top_light,
+        "bottom_light": bottom_light
+    }
+
+
+def load_object(object_path: str) -> None:
+    """Loads a model with a supported file extension into the scene.
+
+    Args:
+        object_path (str): Path to the model file.
+
+    Raises:
+        ValueError: If the file extension is not supported.
+
+    Returns:
+        None
+    """
+    file_extension = object_path.split(".")[-1].lower()
+    if file_extension is None:
+        raise ValueError(f"Unsupported file type: {object_path}")
+
+    if file_extension == "usdz":
+        # install usdz io package
+        dirname = os.path.dirname(os.path.realpath(__file__))
+        usdz_package = os.path.join(dirname, "io_scene_usdz.zip")
+        bpy.ops.preferences.addon_install(filepath=usdz_package)
+        # enable it
+        addon_name = "io_scene_usdz"
+        bpy.ops.preferences.addon_enable(module=addon_name)
+        # import the usdz
+        from io_scene_usdz.import_usdz import import_usdz
+
+        import_usdz(context, filepath=object_path, materials=True, animations=True)
+        return None
+
+    # load from existing import functions
+    import_function = IMPORT_FUNCTIONS[file_extension]
+
+    print(f"Loading object from {object_path}")
+    if file_extension == "blend":
+        import_function(directory=object_path, link=False)
+    elif file_extension in {"glb", "gltf"}:
+        import_function(filepath=object_path, merge_vertices=True, import_shading='NORMALS')
+    else:
+        import_function(filepath=object_path)
+        
+def delete_invisible_objects() -> None:
+    """Deletes all invisible objects in the scene.
+
+    Returns:
+        None
+    """
+    # bpy.ops.object.mode_set(mode="OBJECT")
+    bpy.ops.object.select_all(action="DESELECT")
+    for obj in bpy.context.scene.objects:
+        if obj.hide_viewport or obj.hide_render:
+            obj.hide_viewport = False
+            obj.hide_render = False
+            obj.hide_select = False
+            obj.select_set(True)
+    bpy.ops.object.delete()
+
+    # Delete invisible collections
+    invisible_collections = [col for col in bpy.data.collections if col.hide_viewport]
+    for col in invisible_collections:
+        bpy.data.collections.remove(col)
+        
+def split_mesh_normal():
+    bpy.ops.object.select_all(action="DESELECT")
+    objs = [obj for obj in bpy.context.scene.objects if obj.type == "MESH"]
+    bpy.context.view_layer.objects.active = objs[0]
+    for obj in objs:
+        obj.select_set(True)
+    bpy.ops.object.mode_set(mode="EDIT")
+    bpy.ops.mesh.select_all(action='SELECT')
+    bpy.ops.mesh.split_normals()
+    bpy.ops.object.mode_set(mode='OBJECT')
+    bpy.ops.object.select_all(action="DESELECT")
+            
+def delete_custom_normals():
+     for this_obj in bpy.data.objects:
+        if this_obj.type == "MESH":
+            bpy.context.view_layer.objects.active = this_obj
+            bpy.ops.mesh.customdata_custom_splitnormals_clear()
+
+def override_material():
+    new_mat = bpy.data.materials.new(name="Override0123456789")
+    new_mat.use_nodes = True
+    new_mat.node_tree.nodes.clear()
+    bsdf = new_mat.node_tree.nodes.new('ShaderNodeBsdfDiffuse')
+    bsdf.inputs[0].default_value = (0.5, 0.5, 0.5, 1)
+    bsdf.inputs[1].default_value = 1
+    output = new_mat.node_tree.nodes.new('ShaderNodeOutputMaterial')
+    new_mat.node_tree.links.new(bsdf.outputs['BSDF'], output.inputs['Surface'])
+    bpy.context.scene.view_layers['View Layer'].material_override = new_mat
+
+def unhide_all_objects() -> None:
+    """Unhides all objects in the scene.
+
+    Returns:
+        None
+    """
+    for obj in bpy.context.scene.objects:
+        obj.hide_set(False)
+        
+def convert_to_meshes() -> None:
+    """Converts all objects in the scene to meshes.
+
+    Returns:
+        None
+    """
+    bpy.ops.object.select_all(action="DESELECT")
+    bpy.context.view_layer.objects.active = [obj for obj in bpy.context.scene.objects if obj.type == "MESH"][0]
+    for obj in bpy.context.scene.objects:
+        obj.select_set(True)
+    bpy.ops.object.convert(target="MESH")
+        
+def triangulate_meshes() -> None:
+    """Triangulates all meshes in the scene.
+
+    Returns:
+        None
+    """
+    bpy.ops.object.select_all(action="DESELECT")
+    objs = [obj for obj in bpy.context.scene.objects if obj.type == "MESH"]
+    bpy.context.view_layer.objects.active = objs[0]
+    for obj in objs:
+        obj.select_set(True)
+    bpy.ops.object.mode_set(mode="EDIT")
+    bpy.ops.mesh.reveal()
+    bpy.ops.mesh.select_all(action="SELECT")
+    bpy.ops.mesh.quads_convert_to_tris(quad_method="BEAUTY", ngon_method="BEAUTY")
+    bpy.ops.object.mode_set(mode="OBJECT")
+    bpy.ops.object.select_all(action="DESELECT")
+
+def scene_bbox() -> Tuple[Vector, Vector]:
+    """Returns the bounding box of the scene.
+
+    Taken from Shap-E rendering script
+    (https://github.com/openai/shap-e/blob/main/shap_e/rendering/blender/blender_script.py#L68-L82)
+
+    Returns:
+        Tuple[Vector, Vector]: The minimum and maximum coordinates of the bounding box.
+    """
+    bbox_min = (math.inf,) * 3
+    bbox_max = (-math.inf,) * 3
+    found = False
+    scene_meshes = [obj for obj in bpy.context.scene.objects.values() if isinstance(obj.data, bpy.types.Mesh)]
+    for obj in scene_meshes:
+        found = True
+        for coord in obj.bound_box:
+            coord = Vector(coord)
+            coord = obj.matrix_world @ coord
+            bbox_min = tuple(min(x, y) for x, y in zip(bbox_min, coord))
+            bbox_max = tuple(max(x, y) for x, y in zip(bbox_max, coord))
+    if not found:
+        raise RuntimeError("no objects in scene to compute bounding box for")
+    return Vector(bbox_min), Vector(bbox_max)
+
+def normalize_scene() -> Tuple[float, Vector]:
+    """Normalizes the scene by scaling and translating it to fit in a unit cube centered
+    at the origin.
+
+    Mostly taken from the Point-E / Shap-E rendering script
+    (https://github.com/openai/point-e/blob/main/point_e/evals/scripts/blender_script.py#L97-L112),
+    but fix for multiple root objects: (see bug report here:
+    https://github.com/openai/shap-e/pull/60).
+
+    Returns:
+        Tuple[float, Vector]: The scale factor and the offset applied to the scene.
+    """
+    scene_root_objects = [obj for obj in bpy.context.scene.objects.values() if not obj.parent]
+    if len(scene_root_objects) > 1:
+        # create an empty object to be used as a parent for all root objects
+        scene = bpy.data.objects.new("ParentEmpty", None)
+        bpy.context.scene.collection.objects.link(scene)
+
+        # parent all root objects to the empty object
+        for obj in scene_root_objects:
+            obj.parent = scene
+    else:
+        scene = scene_root_objects[0]
+
+    bbox_min, bbox_max = scene_bbox()
+    scale = 1 / max(bbox_max - bbox_min)
+    scene.scale = scene.scale * scale
+
+    # Apply scale to matrix_world.
+    bpy.context.view_layer.update()
+    bbox_min, bbox_max = scene_bbox()
+    offset = -(bbox_min + bbox_max) / 2
+    scene.matrix_world.translation += offset
+    bpy.ops.object.select_all(action="DESELECT")
+    
+    return scale, offset
+
+def get_transform_matrix(obj: bpy.types.Object) -> list:
+    pos, rt, _ = obj.matrix_world.decompose()
+    rt = rt.to_matrix()
+    matrix = []
+    for ii in range(3):
+        a = []
+        for jj in range(3):
+            a.append(rt[ii][jj])
+        a.append(pos[ii])
+        matrix.append(a)
+    matrix.append([0, 0, 0, 1])
+    return matrix
+
+def main(arg):
+    os.makedirs(arg.output_folder, exist_ok=True)
+    
+    # Initialize context
+    init_render(engine=arg.engine, resolution=arg.resolution, geo_mode=arg.geo_mode)
+    outputs, spec_nodes = init_nodes(
+        save_depth=arg.save_depth,
+        save_normal=arg.save_normal,
+        save_albedo=arg.save_albedo,
+        save_mist=arg.save_mist
+    )
+    if arg.object.endswith(".blend"):
+        delete_invisible_objects()
+    else:
+        init_scene()
+        load_object(arg.object)
+        if arg.split_normal:
+            split_mesh_normal()
+        # delete_custom_normals()
+    print('[INFO] Scene initialized.')
+    
+    # normalize scene
+    scale, offset = normalize_scene()
+    print('[INFO] Scene normalized.')
+    
+    # Initialize camera and lighting
+    cam = init_camera()
+    init_lighting()
+    print('[INFO] Camera and lighting initialized.')
+
+    # Override material
+    if arg.geo_mode:
+        override_material()
+    
+    # Create a list of views
+    to_export = {
+        "aabb": [[-0.5, -0.5, -0.5], [0.5, 0.5, 0.5]],
+        "scale": scale,
+        "offset": [offset.x, offset.y, offset.z],
+        "frames": []
+    }
+    views = json.loads(arg.views)
+    for i, view in enumerate(views):
+        cam.location = (
+            view['radius'] * np.cos(view['yaw']) * np.cos(view['pitch']),
+            view['radius'] * np.sin(view['yaw']) * np.cos(view['pitch']),
+            view['radius'] * np.sin(view['pitch'])
+        )
+        cam.data.lens = 16 / np.tan(view['fov'] / 2)
+        
+        if arg.save_depth:
+            spec_nodes['depth_map'].inputs[1].default_value = view['radius'] - 0.5 * np.sqrt(3)
+            spec_nodes['depth_map'].inputs[2].default_value = view['radius'] + 0.5 * np.sqrt(3)
+        
+        bpy.context.scene.render.filepath = os.path.join(arg.output_folder, f'{i:03d}.png')
+        for name, output in outputs.items():
+            output.file_slots[0].path = os.path.join(arg.output_folder, f'{i:03d}_{name}')
+            
+        # Render the scene
+        bpy.ops.render.render(write_still=True)
+        bpy.context.view_layer.update()
+        for name, output in outputs.items():
+            ext = EXT[output.format.file_format]
+            path = glob.glob(f'{output.file_slots[0].path}*.{ext}')[0]
+            os.rename(path, f'{output.file_slots[0].path}.{ext}')
+            
+        # Save camera parameters
+        metadata = {
+            "file_path": f'{i:03d}.png',
+            "camera_angle_x": view['fov'],
+            "transform_matrix": get_transform_matrix(cam)
+        }
+        if arg.save_depth:
+            metadata['depth'] = {
+                'min': view['radius'] - 0.5 * np.sqrt(3),
+                'max': view['radius'] + 0.5 * np.sqrt(3)
+            }
+        to_export["frames"].append(metadata)
+    
+    # Save the camera parameters
+    with open(os.path.join(arg.output_folder, 'transforms.json'), 'w') as f:
+        json.dump(to_export, f, indent=4)
+        
+    if arg.save_mesh:
+        # triangulate meshes
+        unhide_all_objects()
+        convert_to_meshes()
+        triangulate_meshes()
+        print('[INFO] Meshes triangulated.')
+        
+        # export ply mesh
+        bpy.ops.export_mesh.ply(filepath=os.path.join(arg.output_folder, 'mesh.ply'))
+
+        
+if __name__ == '__main__':
+    parser = argparse.ArgumentParser(description='Renders given obj file by rotation a camera around it.')
+    parser.add_argument('--views', type=str, help='JSON string of views. Contains a list of {yaw, pitch, radius, fov} object.')
+    parser.add_argument('--object', type=str, help='Path to the 3D model file to be rendered.')
+    parser.add_argument('--output_folder', type=str, default='/tmp', help='The path the output will be dumped to.')
+    parser.add_argument('--resolution', type=int, default=512, help='Resolution of the images.')
+    parser.add_argument('--engine', type=str, default='CYCLES', help='Blender internal engine for rendering. E.g. CYCLES, BLENDER_EEVEE, ...')
+    parser.add_argument('--geo_mode', action='store_true', help='Geometry mode for rendering.')
+    parser.add_argument('--save_depth', action='store_true', help='Save the depth maps.')
+    parser.add_argument('--save_normal', action='store_true', help='Save the normal maps.')
+    parser.add_argument('--save_albedo', action='store_true', help='Save the albedo maps.')
+    parser.add_argument('--save_mist', action='store_true', help='Save the mist distance maps.')
+    parser.add_argument('--split_normal', action='store_true', help='Split the normals of the mesh.')
+    parser.add_argument('--save_mesh', action='store_true', help='Save the mesh as a .ply file.')
+    argv = sys.argv[sys.argv.index("--") + 1:]
+    args = parser.parse_args(argv)
+
+    main(args)
+    
\ No newline at end of file
diff --git a/dataset_toolkits/render.py b/dataset_toolkits/render.py
new file mode 100644
index 0000000..636f3b3
--- /dev/null
+++ b/dataset_toolkits/render.py
@@ -0,0 +1,121 @@
+import os
+import json
+import copy
+import sys
+import importlib
+import argparse
+import pandas as pd
+from easydict import EasyDict as edict
+from functools import partial
+from subprocess import DEVNULL, call
+import numpy as np
+from utils import sphere_hammersley_sequence
+
+
+BLENDER_LINK = 'https://download.blender.org/release/Blender3.0/blender-3.0.1-linux-x64.tar.xz'
+BLENDER_INSTALLATION_PATH = '/tmp'
+BLENDER_PATH = f'{BLENDER_INSTALLATION_PATH}/blender-3.0.1-linux-x64/blender'
+
+def _install_blender():
+    if not os.path.exists(BLENDER_PATH):
+        os.system('sudo apt-get update')
+        os.system('sudo apt-get install -y libxrender1 libxi6 libxkbcommon-x11-0 libsm6')
+        os.system(f'wget {BLENDER_LINK} -P {BLENDER_INSTALLATION_PATH}')
+        os.system(f'tar -xvf {BLENDER_INSTALLATION_PATH}/blender-3.0.1-linux-x64.tar.xz -C {BLENDER_INSTALLATION_PATH}')
+
+
+def _render(file_path, sha256, output_dir, num_views):
+    output_folder = os.path.join(output_dir, 'renders', sha256)
+    
+    # Build camera {yaw, pitch, radius, fov}
+    yaws = []
+    pitchs = []
+    offset = (np.random.rand(), np.random.rand())
+    for i in range(num_views):
+        y, p = sphere_hammersley_sequence(i, num_views, offset)
+        yaws.append(y)
+        pitchs.append(p)
+    radius = [2] * num_views
+    fov = [40 / 180 * np.pi] * num_views
+    views = [{'yaw': y, 'pitch': p, 'radius': r, 'fov': f} for y, p, r, f in zip(yaws, pitchs, radius, fov)]
+    
+    args = [
+        BLENDER_PATH, '-b', '-P', os.path.join(os.path.dirname(__file__), 'blender_script', 'render.py'),
+        '--',
+        '--views', json.dumps(views),
+        '--object', os.path.expanduser(file_path),
+        '--resolution', '512',
+        '--output_folder', output_folder,
+        '--engine', 'CYCLES',
+        '--save_mesh',
+    ]
+    if file_path.endswith('.blend'):
+        args.insert(1, file_path)
+    
+    call(args, stdout=DEVNULL, stderr=DEVNULL)
+    
+    if os.path.exists(os.path.join(output_folder, 'transforms.json')):
+        return {'sha256': sha256, 'rendered': True}
+
+
+if __name__ == '__main__':
+    dataset_utils = importlib.import_module(f'datasets.{sys.argv[1]}')
+
+    parser = argparse.ArgumentParser()
+    parser.add_argument('--output_dir', type=str, required=True,
+                        help='Directory to save the metadata')
+    parser.add_argument('--filter_low_aesthetic_score', type=float, default=None,
+                        help='Filter objects with aesthetic score lower than this value')
+    parser.add_argument('--instances', type=str, default=None,
+                        help='Instances to process')
+    parser.add_argument('--num_views', type=int, default=150,
+                        help='Number of views to render')
+    dataset_utils.add_args(parser)
+    parser.add_argument('--rank', type=int, default=0)
+    parser.add_argument('--world_size', type=int, default=1)
+    parser.add_argument('--max_workers', type=int, default=8)
+    opt = parser.parse_args(sys.argv[2:])
+    opt = edict(vars(opt))
+
+    os.makedirs(os.path.join(opt.output_dir, 'renders'), exist_ok=True)
+    
+    # install blender
+    print('Checking blender...', flush=True)
+    _install_blender()
+
+    # get file list
+    if not os.path.exists(os.path.join(opt.output_dir, 'metadata.csv')):
+        raise ValueError('metadata.csv not found')
+    metadata = pd.read_csv(os.path.join(opt.output_dir, 'metadata.csv'))
+    if opt.instances is None:
+        metadata = metadata[metadata['local_path'].notna()]
+        if opt.filter_low_aesthetic_score is not None:
+            metadata = metadata[metadata['aesthetic_score'] >= opt.filter_low_aesthetic_score]
+        if 'rendered' in metadata.columns:
+            metadata = metadata[metadata['rendered'] == False]
+    else:
+        if os.path.exists(opt.instances):
+            with open(opt.instances, 'r') as f:
+                instances = f.read().splitlines()
+        else:
+            instances = opt.instances.split(',')
+        metadata = metadata[metadata['sha256'].isin(instances)]
+
+    start = len(metadata) * opt.rank // opt.world_size
+    end = len(metadata) * (opt.rank + 1) // opt.world_size
+    metadata = metadata[start:end]
+    records = []
+
+    # filter out objects that are already processed
+    for sha256 in copy.copy(metadata['sha256'].values):
+        if os.path.exists(os.path.join(opt.output_dir, 'renders', sha256, 'transforms.json')):
+            records.append({'sha256': sha256, 'rendered': True})
+            metadata = metadata[metadata['sha256'] != sha256]
+                
+    print(f'Processing {len(metadata)} objects...')
+
+    # process objects
+    func = partial(_render, output_dir=opt.output_dir, num_views=opt.num_views)
+    rendered = dataset_utils.foreach_instance(metadata, opt.output_dir, func, max_workers=opt.max_workers, desc='Rendering objects')
+    rendered = pd.concat([rendered, pd.DataFrame.from_records(records)])
+    rendered.to_csv(os.path.join(opt.output_dir, f'rendered_{opt.rank}.csv'), index=False)
diff --git a/dataset_toolkits/render_cond.py b/dataset_toolkits/render_cond.py
new file mode 100644
index 0000000..b2a40e6
--- /dev/null
+++ b/dataset_toolkits/render_cond.py
@@ -0,0 +1,125 @@
+import os
+import json
+import copy
+import sys
+import importlib
+import argparse
+import pandas as pd
+from easydict import EasyDict as edict
+from functools import partial
+from subprocess import DEVNULL, call
+import numpy as np
+from utils import sphere_hammersley_sequence
+
+
+BLENDER_LINK = 'https://download.blender.org/release/Blender3.0/blender-3.0.1-linux-x64.tar.xz'
+BLENDER_INSTALLATION_PATH = '/tmp'
+BLENDER_PATH = f'{BLENDER_INSTALLATION_PATH}/blender-3.0.1-linux-x64/blender'
+
+def _install_blender():
+    if not os.path.exists(BLENDER_PATH):
+        os.system('sudo apt-get update')
+        os.system('sudo apt-get install -y libxrender1 libxi6 libxkbcommon-x11-0 libsm6')
+        os.system(f'wget {BLENDER_LINK} -P {BLENDER_INSTALLATION_PATH}')
+        os.system(f'tar -xvf {BLENDER_INSTALLATION_PATH}/blender-3.0.1-linux-x64.tar.xz -C {BLENDER_INSTALLATION_PATH}')
+
+
+def _render_cond(file_path, sha256, output_dir, num_views):
+    output_folder = os.path.join(output_dir, 'renders_cond', sha256)
+    
+    # Build camera {yaw, pitch, radius, fov}
+    yaws = []
+    pitchs = []
+    offset = (np.random.rand(), np.random.rand())
+    for i in range(num_views):
+        y, p = sphere_hammersley_sequence(i, num_views, offset)
+        yaws.append(y)
+        pitchs.append(p)
+    fov_min, fov_max = 10, 70
+    radius_min = np.sqrt(3) / 2 / np.sin(fov_max / 360 * np.pi)
+    radius_max = np.sqrt(3) / 2 / np.sin(fov_min / 360 * np.pi)
+    k_min = 1 / radius_max**2
+    k_max = 1 / radius_min**2
+    ks = np.random.uniform(k_min, k_max, (1000000,))
+    radius = [1 / np.sqrt(k) for k in ks]
+    fov = [2 * np.arcsin(np.sqrt(3) / 2 / r) for r in radius]
+    views = [{'yaw': y, 'pitch': p, 'radius': r, 'fov': f} for y, p, r, f in zip(yaws, pitchs, radius, fov)]
+    
+    args = [
+        BLENDER_PATH, '-b', '-P', os.path.join(os.path.dirname(__file__), 'blender_script', 'render.py'),
+        '--',
+        '--views', json.dumps(views),
+        '--object', os.path.expanduser(file_path),
+        '--output_folder', os.path.expanduser(output_folder),
+        '--resolution', '1024',
+    ]
+    if file_path.endswith('.blend'):
+        args.insert(1, file_path)
+    
+    call(args, stdout=DEVNULL)
+    
+    if os.path.exists(os.path.join(output_folder, 'transforms.json')):
+        return {'sha256': sha256, 'cond_rendered': True}
+
+
+if __name__ == '__main__':
+    dataset_utils = importlib.import_module(f'datasets.{sys.argv[1]}')
+
+    parser = argparse.ArgumentParser()
+    parser.add_argument('--output_dir', type=str, required=True,
+                        help='Directory to save the metadata')
+    parser.add_argument('--filter_low_aesthetic_score', type=float, default=None,
+                        help='Filter objects with aesthetic score lower than this value')
+    parser.add_argument('--instances', type=str, default=None,
+                        help='Instances to process')
+    parser.add_argument('--num_views', type=int, default=24,
+                        help='Number of views to render')
+    dataset_utils.add_args(parser)
+    parser.add_argument('--rank', type=int, default=0)
+    parser.add_argument('--world_size', type=int, default=1)
+    parser.add_argument('--max_workers', type=int, default=8)
+    opt = parser.parse_args(sys.argv[2:])
+    opt = edict(vars(opt))
+
+    os.makedirs(os.path.join(opt.output_dir, 'renders_cond'), exist_ok=True)
+    
+    # install blender
+    print('Checking blender...', flush=True)
+    _install_blender()
+
+    # get file list
+    if not os.path.exists(os.path.join(opt.output_dir, 'metadata.csv')):
+        raise ValueError('metadata.csv not found')
+    metadata = pd.read_csv(os.path.join(opt.output_dir, 'metadata.csv'))
+    if opt.instances is None:
+        metadata = metadata[metadata['local_path'].notna()]
+        if opt.filter_low_aesthetic_score is not None:
+            metadata = metadata[metadata['aesthetic_score'] >= opt.filter_low_aesthetic_score]
+        if 'cond_rendered' in metadata.columns:
+            metadata = metadata[metadata['cond_rendered'] == False]
+    else:
+        if os.path.exists(opt.instances):
+            with open(opt.instances, 'r') as f:
+                instances = f.read().splitlines()
+        else:
+            instances = opt.instances.split(',')
+        metadata = metadata[metadata['sha256'].isin(instances)]
+
+    start = len(metadata) * opt.rank // opt.world_size
+    end = len(metadata) * (opt.rank + 1) // opt.world_size
+    metadata = metadata[start:end]
+    records = []
+
+    # filter out objects that are already processed
+    for sha256 in copy.copy(metadata['sha256'].values):
+        if os.path.exists(os.path.join(opt.output_dir, 'renders_cond', sha256, 'transforms.json')):
+            records.append({'sha256': sha256, 'cond_rendered': True})
+            metadata = metadata[metadata['sha256'] != sha256]
+                
+    print(f'Processing {len(metadata)} objects...')
+
+    # process objects
+    func = partial(_render_cond, output_dir=opt.output_dir, num_views=opt.num_views)
+    cond_rendered = dataset_utils.foreach_instance(metadata, opt.output_dir, func, max_workers=opt.max_workers, desc='Rendering objects')
+    cond_rendered = pd.concat([cond_rendered, pd.DataFrame.from_records(records)])
+    cond_rendered.to_csv(os.path.join(opt.output_dir, f'cond_rendered_{opt.rank}.csv'), index=False)
diff --git a/render_model.py b/render_model.py
new file mode 100644
index 0000000..ec1e67f
--- /dev/null
+++ b/render_model.py
@@ -0,0 +1,116 @@
+import subprocess
+
+import bpy
+import os
+import sys
+from mathutils import Vector
+
+
+def clear_scene():
+    bpy.ops.object.select_all(action='SELECT')
+    bpy.ops.object.delete(use_global=False)
+
+
+def import_model(model_path):
+    ext = os.path.splitext(model_path)[1].lower()
+    if ext == ".obj":
+        bpy.ops.wm.obj_import(filepath=model_path)
+    elif ext in [".glb", ".gltf"]:
+        bpy.ops.import_scene.gltf(filepath=model_path)
+    else:
+        raise ValueError(f"Unsupported format: {ext}")
+
+
+def get_scene_bbox():
+    objs = [obj for obj in bpy.context.scene.objects if obj.type == 'MESH']
+    if not objs:
+        raise RuntimeError("No mesh objects found")
+
+    min_corner = Vector((float("inf"), float("inf"), float("inf")))
+    max_corner = Vector((float("-inf"), float("-inf"), float("-inf")))
+
+    for obj in objs:
+        for v in obj.bound_box:
+            world_v = obj.matrix_world @ Vector(v)
+            min_corner.x = min(min_corner.x, world_v.x)
+            min_corner.y = min(min_corner.y, world_v.y)
+            min_corner.z = min(min_corner.z, world_v.z)
+            max_corner.x = max(max_corner.x, world_v.x)
+            max_corner.y = max(max_corner.y, world_v.y)
+            max_corner.z = max(max_corner.z, world_v.z)
+
+    return min_corner, max_corner
+
+
+def normalize_model():
+    min_corner, max_corner = get_scene_bbox()
+    center = (min_corner + max_corner) / 2
+    size = max(max_corner.x - min_corner.x,
+               max(max_corner.y - min_corner.y, max_corner.z - min_corner.z))
+
+    objs = [obj for obj in bpy.context.scene.objects if obj.type == 'MESH']
+    for obj in objs:
+        obj.location -= center
+
+    if size > 0:
+        scale = 2.0 / size
+        for obj in objs:
+            obj.scale *= scale
+
+    bpy.context.view_layer.update()
+
+
+def add_camera():
+    bpy.ops.object.camera_add(location=(2.5, -2.5, 2.0))
+    cam = bpy.context.active_object
+    direction = Vector((0, 0, 0)) - cam.location
+    cam.rotation_euler = direction.to_track_quat('-Z', 'Y').to_euler()
+    bpy.context.scene.camera = cam
+
+
+def add_light():
+    bpy.ops.object.light_add(type='SUN', location=(5, -5, 8))
+    bpy.context.active_object.data.energy = 3.0
+
+    bpy.ops.object.light_add(type='AREA', location=(3, -3, 3))
+    area = bpy.context.active_object
+    area.data.energy = 3000
+    area.data.size = 5
+
+
+def setup_render(output_path, resolution=1024):
+    scene = bpy.context.scene
+    scene.render.engine = 'CYCLES'
+    scene.cycles.samples = 128
+    scene.render.filepath = output_path
+    scene.render.image_settings.file_format = 'PNG'
+    scene.render.resolution_x = resolution
+    scene.render.resolution_y = resolution
+    scene.render.film_transparent = True
+
+
+def parse_args():
+    argv = sys.argv
+    argv = argv[argv.index("--") + 1:] if "--" in argv else []
+    if len(argv) < 2:
+        raise ValueError("Usage: blender -b -P render_model.py -- model_path output_path")
+    return argv[0], argv[1]
+
+
+def get_static_model_image():
+    model_path, output_path = parse_args()
+    clear_scene()
+    import_model(model_path)
+    normalize_model()
+    add_camera()
+    add_light()
+    setup_render(output_path)
+    bpy.ops.render.render(write_still=True)
+    print(f"Saved to {output_path}")
+
+
+
+
+
+if __name__ == "__main__":
+    get_static_model_image()
diff --git a/server.py b/server.py
new file mode 100644
index 0000000..03e79aa
--- /dev/null
+++ b/server.py
@@ -0,0 +1,439 @@
+import mimetypes
+import os
+import secrets
+import subprocess
+import tempfile
+import uuid
+from datetime import datetime
+from io import BytesIO
+
+import imageio
+import numpy as np
+import trimesh
+
+import litserve as ls
+from minio import Minio
+
+from glb2svg import glb_to_obj, obj_to_step, step_to_svg
+from trellis.pipelines import TrellisImageTo3DPipeline
+from trellis.utils import render_utils, postprocessing_utils
+from utils.new_oss_client import MINIO_URL, MINIO_ACCESS, MINIO_SECRET, MINIO_SECURE, minio_get_image, MINIO_BUCKET, upload_bytes, upload_local_file, download_from_minio
+
+minio_client = Minio(MINIO_URL, access_key=MINIO_ACCESS, secret_key=MINIO_SECRET, secure=MINIO_SECURE)
+
+
+def generate_unique_name(original_name: str) -> str:
+    stem, ext = os.path.splitext(original_name)
+    timestamp = datetime.now().strftime("%Y%m%d_%H%M%S")
+    random_part = secrets.token_hex(4)  # 8位随机十六进制
+    return f"{stem}_{timestamp}_{random_part}{ext}"
+
+
+def load_mesh(file_path):
+    """
+    加载.obj或.glb文件，返回顶点数据
+
+    Args:
+        file_path: 模型文件路径（支持.obj和.glb格式）
+
+    Returns:
+        numpy.ndarray: 顶点数组，shape为(N, 3)
+    """
+    file_ext = os.path.splitext(file_path)[1].lower()
+
+    if file_ext == '.obj':
+        # 使用trimesh加载obj文件
+        mesh = trimesh.load(file_path, file_type='obj')
+    elif file_ext == '.glb' or file_ext == '.gltf':
+        # 使用trimesh加载glb/gltf文件
+        mesh = trimesh.load(file_path, file_type='glb')
+    else:
+        raise ValueError(f"不支持的文件格式: {file_ext}，仅支持.obj和.glb/.gltf")
+
+    # 获取顶点数据
+    if isinstance(mesh, trimesh.Scene):
+        # 如果是场景，合并所有几何体的顶点
+        vertices = []
+        for geom in mesh.geometry.values():
+            vertices.append(geom.vertices)
+        vertices = np.vstack(vertices)
+    else:
+        # 如果是单个几何体
+        vertices = mesh.vertices
+
+    if len(vertices) == 0:
+        raise ValueError("文件中未找到顶点数据")
+
+    return vertices
+
+
+def analyze_mesh(file_path):
+    """
+    分析3D模型文件，计算质心、边界框、尺寸等信息
+
+    Args:
+        file_path: 模型文件路径（支持.obj和.glb格式）
+
+    Returns:
+        dict: 包含模型分析信息的字典
+    """
+    # 加载模型并获取顶点
+    vertices = load_mesh(file_path)
+
+    # 边界框（每个轴的最小/最大值）
+    min_coords = vertices.min(axis=0)
+    max_coords = vertices.max(axis=0)
+
+    # 质心
+    centroid = vertices.mean(axis=0)
+
+    # 尺寸 = 边界框维度
+    size = max_coords - min_coords
+
+    # 计算尺寸比例（每个轴占总尺寸的比例）
+    total_size = np.sum(size)
+    size_ratio = size / total_size if total_size != 0 else [0, 0, 0]
+
+    info = {
+        # "file_path": file_path,
+        "file_format": os.path.splitext(file_path)[1].lower(),
+        "vertex_count": len(vertices),
+        "centroid": centroid.tolist(),
+        "bounding_box_min": min_coords.tolist(),
+        "bounding_box_max": max_coords.tolist(),
+        "size": size.tolist(),
+        "size_ratio": size_ratio.tolist(),
+        "size_ratio_percentage": (size_ratio * 100).tolist()
+    }
+
+    return info
+
+
+def render_glb_preview(glb_path, output_path):
+    os.makedirs(os.path.dirname(output_path), exist_ok=True)
+
+    cmd = [
+        "blender",
+        "--background",
+        "--python",
+        "render_model.py",
+        "--",
+        glb_path,
+        output_path
+    ]
+
+    result = subprocess.run(cmd, capture_output=True, text=True)
+
+    if result.returncode != 0:
+        raise RuntimeError(
+            f"Blender render failed\nstdout:\n{result.stdout}\nstderr:\n{result.stderr}"
+        )
+
+    return output_path
+
+
+class TrellisAPI(ls.LitAPI):
+
+    def setup(self, device):
+        os.environ.setdefault("SPCONV_ALGO", "native")
+
+        self.pipeline = TrellisImageTo3DPipeline.from_pretrained(
+            "microsoft/TRELLIS-image-large"
+        )
+        self.pipeline.to(device)
+
+    def decode_request(self, request):
+        image_paths = request["image_paths"]
+        images = []
+        for path in image_paths:
+            bucket = path.split('/')[0]
+            object_name = path[path.find('/') + 1:]
+
+            image = minio_get_image(minio_client, bucket, object_name)
+            images.append(image)
+
+        params = {
+            "file_name": uuid.uuid4().hex,
+            "model": request.get("model", "single"),
+            "seed": request.get("seed", 1),
+            "steps_sparse": request.get("steps_sparse", 12),
+            "cfg_sparse": request.get("cfg_sparse", 7.5),
+            "steps_slat": request.get("steps_slat", 12),
+            "cfg_slat": request.get("cfg_slat", 3.0),
+            "simplify": request.get("simplify", 0.95),
+            "texture_size": request.get("texture_size", 1024),
+            "fps": request.get("fps", 30),
+        }
+
+        return images, params
+
+    def predict(self, inputs):
+        images, params = inputs
+        if params["model"] == "single":
+            outputs = self.pipeline.run(
+                images[0],
+                seed=params["seed"],
+                sparse_structure_sampler_params={
+                    "steps": params["steps_sparse"],
+                    "cfg_strength": params["cfg_sparse"],
+                },
+                slat_sampler_params={
+                    "steps": params["steps_slat"],
+                    "cfg_strength": params["cfg_slat"],
+                },
+            )
+        else:
+            outputs = self.pipeline.run_multi_image(
+                images,
+                seed=params['seed'],
+                sparse_structure_sampler_params={
+                    "steps": params['steps_sparse'],
+                    "cfg_strength": params['cfg_sparse'],
+                },
+                slat_sampler_params={
+                    "steps": params['steps_slat'],
+                    "cfg_strength": params['cfg_slat'],
+                },
+            )
+
+        # video_path = self.upload_video(outputs, params)
+
+        minio_glb_path, local_glb_path = self.upload_glb(outputs, params)
+
+        glb_info = analyze_mesh(local_glb_path)
+
+        local_static_model_image_path = os.path.join("glb_output", generate_unique_name("static_model_image.png"))
+        static_model_image = self.get_static_model_image(model_path=local_glb_path, output_path=local_static_model_image_path)
+
+        return {
+            "glb_path": minio_glb_path,
+            "glb_static_img_path": static_model_image,
+            "glb_info": glb_info,
+        }
+
+    def encode_response(self, output):
+        return output
+
+    def upload_video(self, outputs, params):
+        gaussian_name = f"3d_result/video/{params['file_name']}-gaussian.mp4"
+        radiance_field_name = f"3d_result/video/{params['file_name']}-radiance_field.mp4"
+        mesh_name = f"3d_result/video/{params['file_name']}-mesh.mp4"
+
+        # gaussian video
+        video = render_utils.render_video(outputs["gaussian"][0])["color"]
+        buffer = BytesIO()
+        imageio.mimsave(buffer, video, format="mp4", fps=params['fps'])
+        gaussian_video_path = upload_bytes(
+            buffer.getvalue(),
+            gaussian_name,
+            "video/mp4",
+        )
+
+        # radiance field video
+        video = render_utils.render_video(outputs["radiance_field"][0])["color"]
+        buffer = BytesIO()
+        imageio.mimsave(buffer, video, format="mp4", fps=params['fps'])
+        radiance_field_video_path = upload_bytes(
+            buffer.getvalue(),
+            radiance_field_name,
+            "video/mp4",
+        )
+
+        # mesh video
+        video = render_utils.render_video(outputs["mesh"][0])["normal"]
+        buffer = BytesIO()
+        imageio.mimsave(buffer, video, format="mp4", fps=params['fps'])
+        mesh_path = upload_bytes(
+            buffer.getvalue(),
+            mesh_name,
+            "video/mp4",
+        )
+
+        return {
+            "gaussian": gaussian_video_path,
+            "radiance_field": radiance_field_video_path,
+            "mesh": mesh_path
+        }
+
+    def upload_glb(self, outputs, params):
+        file_name = f"3d_result/glb/{params['file_name']}.glb"
+        local_glb_path = os.path.join("glb_output", generate_unique_name("sample.glb"))
+        out_dir = os.path.dirname(local_glb_path)
+        if out_dir:
+            os.makedirs(out_dir, exist_ok=True)
+
+        glb = postprocessing_utils.to_glb(
+            outputs["gaussian"][0],
+            outputs["mesh"][0],
+            simplify=params['simplify'],
+            texture_size=params['texture_size'],
+        )
+
+        glb.export(
+            file_obj=local_glb_path,
+            file_type="glb"
+        )
+
+        glb_path = upload_local_file(
+            local_glb_path,
+            file_name,
+            "application/octet-stream",
+        )
+        return glb_path, local_glb_path
+
+    def upload_ply(self, outputs, params):
+        file_name = f"3d_result/ply/{params['file_name']}.ply"
+
+        with tempfile.NamedTemporaryFile(suffix=".ply") as tmp:
+            outputs["gaussian"][0].save_ply(tmp.name)
+            tmp.seek(0)
+
+            ply_path = upload_bytes(
+                tmp.read(),
+                file_name,
+                "application/octet-stream",
+            )
+        return {"ply": ply_path}
+
+    def get_static_model_image(self, model_path, output_path):
+        local_static_model_image_path = os.path.join(
+            "glb_output",
+            generate_unique_name("static_model_image.png")
+        )
+
+        print(f"model_path : {model_path}")
+        print(f"local_static_model_image_path :{local_static_model_image_path}")
+        output_path = render_glb_preview(model_path, local_static_model_image_path)
+
+        static_model_image = self.upload_local_file(
+            output_path,
+            "png"
+        )
+
+        print(f"Saved to {static_model_image}")
+        return static_model_image
+
+    def upload_local_file(self, local_path, type):
+        """
+        通用上传函数：支持 SVG, PNG, OBJ 等
+        """
+        object_name = f"3d_result/{type}/{uuid.uuid4().hex}.{type}"
+        if not os.path.exists(local_path):
+            print(f"错误: 文件 {local_path} 不存在")
+            return None
+
+        # 自动根据后缀名识别 Content-Type
+        # 例如: .svg -> image/svg+xml, .png -> image/png
+        content_type, _ = mimetypes.guess_type(local_path)
+        if content_type is None:
+            content_type = "application/octet-stream"
+
+        try:
+            minio_client.fput_object(
+                bucket_name=MINIO_BUCKET,
+                object_name=object_name,
+                file_path=local_path,
+                content_type=content_type
+            )
+            print(f"成功上传 [{content_type}]: {object_name}")
+            return f"{MINIO_BUCKET}/{object_name}"
+        except Exception as e:
+            print(f"上传失败: {e}")
+            return None
+
+
+class ModelToThreeViews(ls.LitAPI):
+
+    def setup(self, device):
+        pass
+
+    def upload_local_file(self, local_path, type):
+        """
+        通用上传函数：支持 SVG, PNG, OBJ 等
+        """
+        object_name = f"3d_result/{type}/{uuid.uuid4().hex}.{type}"
+        if not os.path.exists(local_path):
+            print(f"错误: 文件 {local_path} 不存在")
+            return None
+
+        # 自动根据后缀名识别 Content-Type
+        # 例如: .svg -> image/svg+xml, .png -> image/png
+        content_type, _ = mimetypes.guess_type(local_path)
+        if content_type is None:
+            content_type = "application/octet-stream"
+
+        try:
+            minio_client.fput_object(
+                bucket_name=MINIO_BUCKET,
+                object_name=object_name,
+                file_path=local_path,
+                content_type=content_type
+            )
+            print(f"成功上传 [{content_type}]: {object_name}")
+            return f"{MINIO_BUCKET}/{object_name}"
+        except Exception as e:
+            print(f"上传失败: {e}")
+            return None
+
+    def predict(self, request):
+        minio_glb_path = request['minio_glb_path']
+
+        work_dir = f"glb_to_obj"
+        os.makedirs(work_dir, exist_ok=True)
+
+        glb_path = os.path.join(work_dir, f"model{uuid.uuid4().hex}.glb")
+        step_dir = os.path.join(work_dir, "step")
+        svg_dir = os.path.join(work_dir, "svg")
+        os.makedirs(step_dir, exist_ok=True)
+        os.makedirs(svg_dir, exist_ok=True)
+        print(f"""
+            入参阶段:
+             input glb-obj minio-path:{minio_glb_path},\n
+             work_dir : {work_dir},glb_path : {glb_path},step_dir : {step_dir},svg_dir : {svg_dir}\n 
+        """)
+        print("=" * 10)
+
+        print(f"        第一阶段 下载glb文件:       ")
+        # 1 下载
+        glb_result = download_from_minio(object_path=minio_glb_path, local_path=glb_path)
+        print(f"        下载结果 : {glb_result}       \n")
+        print("=" * 10)
+
+        print(f"        第二阶段 glb -> obj:       ")
+        # 2 glb -> obj
+        obj_result = glb_to_obj(glb_result)
+        print(f"        glb -> obj 结果 : {obj_result}       \n")
+        print("=" * 10)
+
+        print(f"        第三阶段 obj -> step:       ")
+        # 3 obj -> step
+        step_result = obj_to_step(
+            input_obj=obj_result,
+            output_dir=step_dir,
+            script_path="1_obj_to_step.py"
+        )
+        print(f"        obj -> step 结果 : {step_result}       \n")
+        print("=" * 10)
+
+        print(f"        第四阶段 step -> svg:       ")
+        # 4 step -> svg
+        combined_svg, combined_png = step_to_svg(
+            step_path=step_result,
+            out_dir=svg_dir
+        )
+        print(f"        step -> svg 结果 : {combined_svg}       \n")
+        print("=" * 10)
+
+        # 5 上传
+        minio_svg_path = self.upload_local_file(combined_png, "svg")
+
+        return {"minio_svg_path": minio_svg_path}
+
+
+if __name__ == "__main__":
+    trellis_api = TrellisAPI(api_path="/canvas/img_to_3D")
+    model_to_three_api = ModelToThreeViews(api_path="/canvas/3d_to_3views")
+    server = ls.LitServer([
+        trellis_api,
+        model_to_three_api])
+    server.run(port=8120)
diff --git a/single_image_to_3D.py b/single_image_to_3D.py
new file mode 100644
index 0000000..f09483e
--- /dev/null
+++ b/single_image_to_3D.py
@@ -0,0 +1,95 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+
+import os
+import argparse
+from PIL import Image
+
+from trellis.pipelines import TrellisImageTo3DPipeline
+from trellis.utils import render_utils, postprocessing_utils
+
+def build_parser():
+    p = argparse.ArgumentParser("TRELLIS CLI: single image -> 3D")
+
+    p.add_argument("-i", "--image", required=True, help="Input image path")
+    p.add_argument("-o", "--out_dir", default="trellis_out", help="Output directory")
+
+    p.add_argument("--seed", type=int, default=1)
+    p.add_argument("--steps_sparse", type=int, default=12)
+    p.add_argument("--cfg_sparse", type=float, default=7.5)
+    p.add_argument("--steps_slat", type=int, default=12)
+    p.add_argument("--cfg_slat", type=float, default=3.0)
+
+    p.add_argument("--simplify", type=float, default=0.95)
+    p.add_argument("--texture_size", type=int, default=1024)
+
+    # Export GLB (default True)
+    p.add_argument("--export_glb", dest="export_glb", action="store_true", default=True)
+    p.add_argument("--no-export_glb", dest="export_glb", action="store_false")
+
+    # Save PLY (default True)
+    p.add_argument("--save_ply", dest="save_ply", action="store_true", default=True)
+    p.add_argument("--no-save_ply", dest="save_ply", action="store_false")
+
+    # Save videos (default False, plus explicit toggle)
+    p.add_argument("--save_video", dest="save_video", action="store_true", default=True)
+    p.add_argument("--no-save_video", dest="save_video", action="store_false")
+
+    p.add_argument("--fps", type=int, default=30)
+    p.add_argument("--video_gs_name", type=str, default="sample_gs.mp4")
+    p.add_argument("--video_rf_name", type=str, default="sample_rf.mp4")
+    p.add_argument("--video_mesh_name", type=str, default="sample_mesh.mp4")
+
+    return p
+
+def main():
+    args = build_parser().parse_args()
+    os.makedirs(args.out_dir, exist_ok=True)
+
+    # Optional env
+    os.environ.setdefault("SPCONV_ALGO", "native")
+
+    pipeline = TrellisImageTo3DPipeline.from_pretrained("microsoft/TRELLIS-image-large")
+    pipeline.cuda()
+
+    image = Image.open(args.image)
+
+    outputs = pipeline.run(
+        image,
+        seed=args.seed,
+        sparse_structure_sampler_params={
+            "steps": args.steps_sparse,
+            "cfg_strength": args.cfg_sparse,
+        },
+        slat_sampler_params={
+            "steps": args.steps_slat,
+            "cfg_strength": args.cfg_slat,
+        },
+    )
+
+    if args.save_video:
+        import imageio
+
+        video = render_utils.render_video(outputs["gaussian"][0])["color"]
+        imageio.mimsave(os.path.join(args.out_dir, args.video_gs_name), video, fps=args.fps)
+
+        video = render_utils.render_video(outputs["radiance_field"][0])["color"]
+        imageio.mimsave(os.path.join(args.out_dir, args.video_rf_name), video, fps=args.fps)
+
+        video = render_utils.render_video(outputs["mesh"][0])["normal"]
+        imageio.mimsave(os.path.join(args.out_dir, args.video_mesh_name), video, fps=args.fps)
+
+    if args.export_glb:
+        glb = postprocessing_utils.to_glb(
+            outputs["gaussian"][0],
+            outputs["mesh"][0],
+            simplify=args.simplify,
+            texture_size=args.texture_size,
+        )
+        glb.export(os.path.join(args.out_dir, "sample.glb"))
+
+    if args.save_ply:
+        outputs["gaussian"][0].save_ply(os.path.join(args.out_dir, "sample.ply"))
+
+if __name__ == "__main__":
+    main()
diff --git a/trellis/modules/sparse/attention/serialized_attn.py b/trellis/modules/sparse/attention/serialized_attn.py
new file mode 100755
index 0000000..5950b75
--- /dev/null
+++ b/trellis/modules/sparse/attention/serialized_attn.py
@@ -0,0 +1,193 @@
+from typing import *
+from enum import Enum
+import torch
+import math
+from .. import SparseTensor
+from .. import DEBUG, ATTN
+
+if ATTN == 'xformers':
+    import xformers.ops as xops
+elif ATTN == 'flash_attn':
+    import flash_attn
+else:
+    raise ValueError(f"Unknown attention module: {ATTN}")
+
+
+__all__ = [
+    'sparse_serialized_scaled_dot_product_self_attention',
+]
+
+
+class SerializeMode(Enum):
+    Z_ORDER = 0
+    Z_ORDER_TRANSPOSED = 1
+    HILBERT = 2
+    HILBERT_TRANSPOSED = 3
+
+
+SerializeModes = [
+    SerializeMode.Z_ORDER,
+    SerializeMode.Z_ORDER_TRANSPOSED,
+    SerializeMode.HILBERT,
+    SerializeMode.HILBERT_TRANSPOSED
+]
+
+
+def calc_serialization(
+    tensor: SparseTensor,
+    window_size: int,
+    serialize_mode: SerializeMode = SerializeMode.Z_ORDER,
+    shift_sequence: int = 0,
+    shift_window: Tuple[int, int, int] = (0, 0, 0)
+) -> Tuple[torch.Tensor, torch.Tensor, List[int]]:
+    """
+    Calculate serialization and partitioning for a set of coordinates.
+
+    Args:
+        tensor (SparseTensor): The input tensor.
+        window_size (int): The window size to use.
+        serialize_mode (SerializeMode): The serialization mode to use.
+        shift_sequence (int): The shift of serialized sequence.
+        shift_window (Tuple[int, int, int]): The shift of serialized coordinates.
+
+    Returns:
+        (torch.Tensor, torch.Tensor): Forwards and backwards indices.
+    """
+    fwd_indices = []
+    bwd_indices = []
+    seq_lens = []
+    seq_batch_indices = []
+    offsets = [0]
+    
+    if 'vox2seq' not in globals():
+        import vox2seq
+
+    # Serialize the input
+    serialize_coords = tensor.coords[:, 1:].clone()
+    serialize_coords += torch.tensor(shift_window, dtype=torch.int32, device=tensor.device).reshape(1, 3)
+    if serialize_mode == SerializeMode.Z_ORDER:
+        code = vox2seq.encode(serialize_coords, mode='z_order', permute=[0, 1, 2])
+    elif serialize_mode == SerializeMode.Z_ORDER_TRANSPOSED:
+        code = vox2seq.encode(serialize_coords, mode='z_order', permute=[1, 0, 2])
+    elif serialize_mode == SerializeMode.HILBERT:
+        code = vox2seq.encode(serialize_coords, mode='hilbert', permute=[0, 1, 2])
+    elif serialize_mode == SerializeMode.HILBERT_TRANSPOSED:
+        code = vox2seq.encode(serialize_coords, mode='hilbert', permute=[1, 0, 2])
+    else:
+        raise ValueError(f"Unknown serialize mode: {serialize_mode}")
+    
+    for bi, s in enumerate(tensor.layout):
+        num_points = s.stop - s.start
+        num_windows = (num_points + window_size - 1) // window_size
+        valid_window_size = num_points / num_windows
+        to_ordered = torch.argsort(code[s.start:s.stop])
+        if num_windows == 1:
+            fwd_indices.append(to_ordered)
+            bwd_indices.append(torch.zeros_like(to_ordered).scatter_(0, to_ordered, torch.arange(num_points, device=tensor.device)))
+            fwd_indices[-1] += s.start
+            bwd_indices[-1] += offsets[-1]
+            seq_lens.append(num_points)
+            seq_batch_indices.append(bi)
+            offsets.append(offsets[-1] + seq_lens[-1])
+        else:
+            # Partition the input
+            offset = 0
+            mids = [(i + 0.5) * valid_window_size + shift_sequence for i in range(num_windows)]
+            split = [math.floor(i * valid_window_size + shift_sequence) for i in range(num_windows + 1)]
+            bwd_index = torch.zeros((num_points,), dtype=torch.int64, device=tensor.device)
+            for i in range(num_windows):
+                mid = mids[i]
+                valid_start = split[i]
+                valid_end = split[i + 1]
+                padded_start = math.floor(mid - 0.5 * window_size)
+                padded_end = padded_start + window_size
+                fwd_indices.append(to_ordered[torch.arange(padded_start, padded_end, device=tensor.device) % num_points])
+                offset += valid_start - padded_start
+                bwd_index.scatter_(0, fwd_indices[-1][valid_start-padded_start:valid_end-padded_start], torch.arange(offset, offset + valid_end - valid_start, device=tensor.device))
+                offset += padded_end - valid_start
+                fwd_indices[-1] += s.start
+            seq_lens.extend([window_size] * num_windows)
+            seq_batch_indices.extend([bi] * num_windows)
+            bwd_indices.append(bwd_index + offsets[-1])
+            offsets.append(offsets[-1] + num_windows * window_size)
+
+    fwd_indices = torch.cat(fwd_indices)
+    bwd_indices = torch.cat(bwd_indices)
+
+    return fwd_indices, bwd_indices, seq_lens, seq_batch_indices
+    
+
+def sparse_serialized_scaled_dot_product_self_attention(
+    qkv: SparseTensor,
+    window_size: int,
+    serialize_mode: SerializeMode = SerializeMode.Z_ORDER,
+    shift_sequence: int = 0,
+    shift_window: Tuple[int, int, int] = (0, 0, 0)
+) -> SparseTensor:
+    """
+    Apply serialized scaled dot product self attention to a sparse tensor.
+
+    Args:
+        qkv (SparseTensor): [N, *, 3, H, C] sparse tensor containing Qs, Ks, and Vs.
+        window_size (int): The window size to use.
+        serialize_mode (SerializeMode): The serialization mode to use.
+        shift_sequence (int): The shift of serialized sequence.
+        shift_window (Tuple[int, int, int]): The shift of serialized coordinates.
+        shift (int): The shift to use.
+    """
+    assert len(qkv.shape) == 4 and qkv.shape[1] == 3, f"Invalid shape for qkv, got {qkv.shape}, expected [N, *, 3, H, C]"
+
+    serialization_spatial_cache_name = f'serialization_{serialize_mode}_{window_size}_{shift_sequence}_{shift_window}'
+    serialization_spatial_cache = qkv.get_spatial_cache(serialization_spatial_cache_name)
+    if serialization_spatial_cache is None:
+        fwd_indices, bwd_indices, seq_lens, seq_batch_indices = calc_serialization(qkv, window_size, serialize_mode, shift_sequence, shift_window)
+        qkv.register_spatial_cache(serialization_spatial_cache_name, (fwd_indices, bwd_indices, seq_lens, seq_batch_indices))
+    else:
+        fwd_indices, bwd_indices, seq_lens, seq_batch_indices = serialization_spatial_cache
+
+    M = fwd_indices.shape[0]
+    T = qkv.feats.shape[0]
+    H = qkv.feats.shape[2]
+    C = qkv.feats.shape[3]
+    
+    qkv_feats = qkv.feats[fwd_indices]      # [M, 3, H, C]
+
+    if DEBUG:
+        start = 0
+        qkv_coords = qkv.coords[fwd_indices]
+        for i in range(len(seq_lens)):
+            assert (qkv_coords[start:start+seq_lens[i], 0] == seq_batch_indices[i]).all(), f"SparseWindowedScaledDotProductSelfAttention: batch index mismatch"
+            start += seq_lens[i]
+
+    if all([seq_len == window_size for seq_len in seq_lens]):
+        B = len(seq_lens)
+        N = window_size
+        qkv_feats = qkv_feats.reshape(B, N, 3, H, C)
+        if ATTN == 'xformers':
+            q, k, v = qkv_feats.unbind(dim=2)                       # [B, N, H, C]
+            out = xops.memory_efficient_attention(q, k, v)          # [B, N, H, C]
+        elif ATTN == 'flash_attn':
+            out = flash_attn.flash_attn_qkvpacked_func(qkv_feats)   # [B, N, H, C]
+        else:
+            raise ValueError(f"Unknown attention module: {ATTN}")
+        out = out.reshape(B * N, H, C)                              # [M, H, C]
+    else:
+        if ATTN == 'xformers':
+            q, k, v = qkv_feats.unbind(dim=1)                       # [M, H, C]
+            q = q.unsqueeze(0)                                      # [1, M, H, C]
+            k = k.unsqueeze(0)                                      # [1, M, H, C]
+            v = v.unsqueeze(0)                                      # [1, M, H, C]
+            mask = xops.fmha.BlockDiagonalMask.from_seqlens(seq_lens)
+            out = xops.memory_efficient_attention(q, k, v, mask)[0] # [M, H, C]
+        elif ATTN == 'flash_attn':
+            cu_seqlens = torch.cat([torch.tensor([0]), torch.cumsum(torch.tensor(seq_lens), dim=0)], dim=0) \
+                        .to(qkv.device).int()
+            out = flash_attn.flash_attn_varlen_qkvpacked_func(qkv_feats, cu_seqlens, max(seq_lens)) # [M, H, C]
+
+    out = out[bwd_indices]      # [T, H, C]
+
+    if DEBUG:
+        qkv_coords = qkv_coords[bwd_indices]
+        assert torch.equal(qkv_coords, qkv.coords), "SparseWindowedScaledDotProductSelfAttention: coordinate mismatch"
+
+    return qkv.replace(out)
diff --git a/trellis/renderers/sh_utils.py b/trellis/renderers/sh_utils.py
new file mode 100755
index 0000000..bbca7d1
--- /dev/null
+++ b/trellis/renderers/sh_utils.py
@@ -0,0 +1,118 @@
+#  Copyright 2021 The PlenOctree Authors.
+#  Redistribution and use in source and binary forms, with or without
+#  modification, are permitted provided that the following conditions are met:
+#
+#  1. Redistributions of source code must retain the above copyright notice,
+#  this list of conditions and the following disclaimer.
+#
+#  2. Redistributions in binary form must reproduce the above copyright notice,
+#  this list of conditions and the following disclaimer in the documentation
+#  and/or other materials provided with the distribution.
+#
+#  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+#  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+#  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+#  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+#  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+#  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+#  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+#  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+#  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+#  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+#  POSSIBILITY OF SUCH DAMAGE.
+
+import torch
+
+C0 = 0.28209479177387814
+C1 = 0.4886025119029199
+C2 = [
+    1.0925484305920792,
+    -1.0925484305920792,
+    0.31539156525252005,
+    -1.0925484305920792,
+    0.5462742152960396
+]
+C3 = [
+    -0.5900435899266435,
+    2.890611442640554,
+    -0.4570457994644658,
+    0.3731763325901154,
+    -0.4570457994644658,
+    1.445305721320277,
+    -0.5900435899266435
+]
+C4 = [
+    2.5033429417967046,
+    -1.7701307697799304,
+    0.9461746957575601,
+    -0.6690465435572892,
+    0.10578554691520431,
+    -0.6690465435572892,
+    0.47308734787878004,
+    -1.7701307697799304,
+    0.6258357354491761,
+]   
+
+
+def eval_sh(deg, sh, dirs):
+    """
+    Evaluate spherical harmonics at unit directions
+    using hardcoded SH polynomials.
+    Works with torch/np/jnp.
+    ... Can be 0 or more batch dimensions.
+    Args:
+        deg: int SH deg. Currently, 0-3 supported
+        sh: jnp.ndarray SH coeffs [..., C, (deg + 1) ** 2]
+        dirs: jnp.ndarray unit directions [..., 3]
+    Returns:
+        [..., C]
+    """
+    assert deg <= 4 and deg >= 0
+    coeff = (deg + 1) ** 2
+    assert sh.shape[-1] >= coeff
+
+    result = C0 * sh[..., 0]
+    if deg > 0:
+        x, y, z = dirs[..., 0:1], dirs[..., 1:2], dirs[..., 2:3]
+        result = (result -
+                C1 * y * sh[..., 1] +
+                C1 * z * sh[..., 2] -
+                C1 * x * sh[..., 3])
+
+        if deg > 1:
+            xx, yy, zz = x * x, y * y, z * z
+            xy, yz, xz = x * y, y * z, x * z
+            result = (result +
+                    C2[0] * xy * sh[..., 4] +
+                    C2[1] * yz * sh[..., 5] +
+                    C2[2] * (2.0 * zz - xx - yy) * sh[..., 6] +
+                    C2[3] * xz * sh[..., 7] +
+                    C2[4] * (xx - yy) * sh[..., 8])
+
+            if deg > 2:
+                result = (result +
+                C3[0] * y * (3 * xx - yy) * sh[..., 9] +
+                C3[1] * xy * z * sh[..., 10] +
+                C3[2] * y * (4 * zz - xx - yy)* sh[..., 11] +
+                C3[3] * z * (2 * zz - 3 * xx - 3 * yy) * sh[..., 12] +
+                C3[4] * x * (4 * zz - xx - yy) * sh[..., 13] +
+                C3[5] * z * (xx - yy) * sh[..., 14] +
+                C3[6] * x * (xx - 3 * yy) * sh[..., 15])
+
+                if deg > 3:
+                    result = (result + C4[0] * xy * (xx - yy) * sh[..., 16] +
+                            C4[1] * yz * (3 * xx - yy) * sh[..., 17] +
+                            C4[2] * xy * (7 * zz - 1) * sh[..., 18] +
+                            C4[3] * yz * (7 * zz - 3) * sh[..., 19] +
+                            C4[4] * (zz * (35 * zz - 30) + 3) * sh[..., 20] +
+                            C4[5] * xz * (7 * zz - 3) * sh[..., 21] +
+                            C4[6] * (xx - yy) * (7 * zz - 1) * sh[..., 22] +
+                            C4[7] * xz * (xx - 3 * yy) * sh[..., 23] +
+                            C4[8] * (xx * (xx - 3 * yy) - yy * (3 * xx - yy)) * sh[..., 24])
+    return result
+
+def RGB2SH(rgb):
+    return (rgb - 0.5) / C0
+
+def SH2RGB(sh):
+    return sh * C0 + 0.5
\ No newline at end of file
diff --git a/trellis/representations/mesh/flexicubes/examples/render.py b/trellis/representations/mesh/flexicubes/examples/render.py
new file mode 100644
index 0000000..6aecbda
--- /dev/null
+++ b/trellis/representations/mesh/flexicubes/examples/render.py
@@ -0,0 +1,274 @@
+# Copyright (c) 2025 NVIDIA CORPORATION & AFFILIATES.
+# All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+import numpy as np
+import copy
+import math
+from ipywidgets import interactive, HBox, VBox, FloatLogSlider, IntSlider
+
+import torch
+import nvdiffrast.torch as dr
+import kaolin as kal
+import util
+
+###############################################################################
+# Functions adapted from https://github.com/NVlabs/nvdiffrec
+###############################################################################
+
+def get_random_camera_batch(batch_size, fovy = np.deg2rad(45), iter_res=[512,512], cam_near_far=[0.1, 1000.0], cam_radius=3.0, device="cuda", use_kaolin=True):
+    if use_kaolin:
+        camera_pos = torch.stack(kal.ops.coords.spherical2cartesian(
+            *kal.ops.random.sample_spherical_coords((batch_size,), azimuth_low=0., azimuth_high=math.pi * 2,
+                                                    elevation_low=-math.pi / 2., elevation_high=math.pi / 2., device='cuda'),
+            cam_radius
+        ), dim=-1)
+        return kal.render.camera.Camera.from_args(
+            eye=camera_pos + torch.rand((batch_size, 1), device='cuda') * 0.5 - 0.25,
+            at=torch.zeros(batch_size, 3),
+            up=torch.tensor([[0., 1., 0.]]),
+            fov=fovy,
+            near=cam_near_far[0], far=cam_near_far[1],
+            height=iter_res[0], width=iter_res[1],
+            device='cuda'
+        )
+    else:
+        def get_random_camera():
+            proj_mtx = util.perspective(fovy, iter_res[1] / iter_res[0], cam_near_far[0], cam_near_far[1])
+            mv     = util.translate(0, 0, -cam_radius) @ util.random_rotation_translation(0.25)
+            mvp    = proj_mtx @ mv
+            return mv, mvp
+        mv_batch = []
+        mvp_batch = []
+        for i in range(batch_size):
+            mv, mvp = get_random_camera()
+            mv_batch.append(mv)
+            mvp_batch.append(mvp)
+        return torch.stack(mv_batch).to(device), torch.stack(mvp_batch).to(device)
+
+def get_rotate_camera(itr, fovy = np.deg2rad(45), iter_res=[512,512], cam_near_far=[0.1, 1000.0], cam_radius=3.0, device="cuda", use_kaolin=True):
+    if use_kaolin:
+        ang = (itr / 10) * np.pi * 2
+        camera_pos = torch.stack(kal.ops.coords.spherical2cartesian(torch.tensor(ang), torch.tensor(0.4), -torch.tensor(cam_radius)))
+        return kal.render.camera.Camera.from_args(
+            eye=camera_pos,
+            at=torch.zeros(3),
+            up=torch.tensor([0., 1., 0.]),
+            fov=fovy,
+            near=cam_near_far[0], far=cam_near_far[1],
+            height=iter_res[0], width=iter_res[1],
+            device='cuda'
+        )
+    else:
+        proj_mtx = util.perspective(fovy, iter_res[1] / iter_res[0], cam_near_far[0], cam_near_far[1])
+
+        # Smooth rotation for display.
+        ang    = (itr / 10) * np.pi * 2
+        mv     = util.translate(0, 0, -cam_radius) @ (util.rotate_x(-0.4) @ util.rotate_y(ang))
+        mvp    = proj_mtx @ mv
+        return mv.to(device), mvp.to(device)
+
+glctx = dr.RasterizeGLContext()
+def render_mesh(mesh, camera, iter_res, return_types = ["mask", "depth"], white_bg=False, wireframe_thickness=0.4):
+    vertices_camera = camera.extrinsics.transform(mesh.vertices)
+    face_vertices_camera = kal.ops.mesh.index_vertices_by_faces(
+        vertices_camera, mesh.faces
+    )
+
+    # Projection: nvdiffrast take clip coordinates as input to apply barycentric perspective correction.
+    # Using `camera.intrinsics.transform(vertices_camera) would return the normalized device coordinates.
+    proj = camera.projection_matrix().unsqueeze(1)
+    proj[:, :, 1, 1] = -proj[:, :, 1, 1]
+    homogeneous_vecs = kal.render.camera.up_to_homogeneous(
+        vertices_camera
+    )
+    vertices_clip = (proj @ homogeneous_vecs.unsqueeze(-1)).squeeze(-1)
+    faces_int = mesh.faces.int()
+
+    rast, _ = dr.rasterize(
+        glctx, vertices_clip, faces_int, iter_res)
+
+    out_dict = {}
+    for type in return_types:
+        if type == "mask" :
+            img = dr.antialias((rast[..., -1:] > 0).float(), rast, vertices_clip, faces_int)
+        elif type == "depth":
+            img = dr.interpolate(homogeneous_vecs, rast, faces_int)[0]
+        elif type == "wireframe":
+            img = torch.logical_or(
+                torch.logical_or(rast[..., 0] < wireframe_thickness, rast[..., 1] < wireframe_thickness),
+                (rast[..., 0] + rast[..., 1]) > (1. - wireframe_thickness)
+            ).unsqueeze(-1)
+        elif type == "normals" :
+            img = dr.interpolate(
+                mesh.face_normals.reshape(len(mesh), -1, 3), rast,
+                torch.arange(mesh.faces.shape[0] * 3, device='cuda', dtype=torch.int).reshape(-1, 3)
+            )[0]
+        if white_bg:
+            bg = torch.ones_like(img)
+            alpha = (rast[..., -1:] > 0).float() 
+            img = torch.lerp(bg, img, alpha)
+        out_dict[type] = img
+
+        
+    return out_dict
+
+def render_mesh_paper(mesh, mv, mvp, iter_res, return_types = ["mask", "depth"], white_bg=False):
+    '''
+    The rendering function used to produce the results in the paper.
+    '''
+    v_pos_clip = util.xfm_points(mesh.vertices.unsqueeze(0), mvp)  # Rotate it to camera coordinates
+    rast, db = dr.rasterize(
+        dr.RasterizeGLContext(), v_pos_clip, mesh.faces.int(), iter_res)
+
+    out_dict = {}
+    for type in return_types:
+        if type == "mask" :
+            img = dr.antialias((rast[..., -1:] > 0).float(), rast, v_pos_clip, mesh.faces.int()) 
+        elif type == "depth":
+            v_pos_cam = util.xfm_points(mesh.vertices.unsqueeze(0), mv)
+            img, _ = util.interpolate(v_pos_cam, rast, mesh.faces.int())
+        elif type == "normal" :
+            normal_indices = (torch.arange(0, mesh.nrm.shape[0], dtype=torch.int64, device='cuda')[:, None]).repeat(1, 3)
+            img, _ = util.interpolate(mesh.nrm.unsqueeze(0).contiguous(), rast, normal_indices.int())
+        elif type == "vertex_normal":
+            img, _ = util.interpolate(mesh.v_nrm.unsqueeze(0).contiguous(), rast, mesh.faces.int())
+            img = dr.antialias((img + 1) * 0.5, rast, v_pos_clip, mesh.faces.int()) 
+        if white_bg:
+            bg = torch.ones_like(img)
+            alpha = (rast[..., -1:] > 0).float() 
+            img = torch.lerp(bg, img, alpha)
+        out_dict[type] = img
+    return out_dict
+
+class SplitVisualizer():
+    def __init__(self, lh_mesh, rh_mesh, height, width):
+        self.lh_mesh = lh_mesh
+        self.rh_mesh = rh_mesh
+        self.height = height
+        self.width = width
+        self.wireframe_thickness = 0.4
+        
+
+    def render(self, camera):
+        lh_outputs = render_mesh(
+            self.lh_mesh, camera, (self.height, self.width),
+            return_types=["normals", "wireframe"], wireframe_thickness=self.wireframe_thickness
+        )
+        rh_outputs = render_mesh(
+            self.rh_mesh, camera, (self.height, self.width),
+            return_types=["normals", "wireframe"], wireframe_thickness=self.wireframe_thickness
+        )
+        outputs = {
+            k: torch.cat(
+                [lh_outputs[k][0].permute(1, 0, 2), rh_outputs[k][0].permute(1, 0, 2)],
+                dim=0
+            ).permute(1, 0, 2) for k in ["normals", "wireframe"]
+        }
+        return {
+            'img': (outputs['wireframe'] * ((outputs['normals'] + 1.) / 2.) * 255).to(torch.uint8),
+            'normals': outputs['normals']
+        }
+
+    def show(self, init_camera):
+        visualizer = kal.visualize.IpyTurntableVisualizer(
+            self.height, self.width * 2, copy.deepcopy(init_camera), self.render,
+            max_fps=24, world_up_axis=1)
+
+        def slider_callback(new_wireframe_thickness):
+            """ipywidgets sliders callback"""
+            with visualizer.out: # This is in case of bug
+                self.wireframe_thickness = new_wireframe_thickness
+                # this is how we request a new update
+                visualizer.render_update()
+                
+        wireframe_thickness_slider = FloatLogSlider(
+            value=self.wireframe_thickness,
+            base=10,
+            min=-3,
+            max=-0.4,
+            step=0.1,
+            description='wireframe_thickness',
+            continuous_update=True,
+            readout=True,
+            readout_format='.3f',
+        )
+        
+        interactive_slider = interactive(
+            slider_callback,
+            new_wireframe_thickness=wireframe_thickness_slider,
+        )
+        
+        full_output = VBox([visualizer.canvas, interactive_slider])
+        display(full_output, visualizer.out)
+
+class TimelineVisualizer():
+    def __init__(self, meshes, height, width):
+        self.meshes = meshes
+        self.height = height
+        self.width = width
+        self.wireframe_thickness = 0.4
+        self.idx = len(meshes) - 1
+
+    def render(self, camera):
+        outputs = render_mesh(
+            self.meshes[self.idx], camera, (self.height, self.width),
+            return_types=["normals", "wireframe"], wireframe_thickness=self.wireframe_thickness
+        )
+
+        return {
+            'img': (outputs['wireframe'] * ((outputs['normals'] + 1.) / 2.) * 255).to(torch.uint8)[0],
+            'normals': outputs['normals'][0]
+        }
+
+    def show(self, init_camera):
+        visualizer = kal.visualize.IpyTurntableVisualizer(
+            self.height, self.width, copy.deepcopy(init_camera), self.render,
+            max_fps=24, world_up_axis=1)
+
+        def slider_callback(new_wireframe_thickness, new_idx):
+            """ipywidgets sliders callback"""
+            with visualizer.out: # This is in case of bug
+                self.wireframe_thickness = new_wireframe_thickness
+                self.idx = new_idx
+                # this is how we request a new update
+                visualizer.render_update()
+
+        wireframe_thickness_slider = FloatLogSlider(
+            value=self.wireframe_thickness,
+            base=10,
+            min=-3,
+            max=-0.4,
+            step=0.1,
+            description='wireframe_thickness',
+            continuous_update=True,
+            readout=True,
+            readout_format='.3f',
+        )
+
+        idx_slider = IntSlider(
+            value=self.idx,
+            min=0,
+            max=len(self.meshes) - 1,
+            description='idx',
+            continuous_update=True,
+            readout=True
+        )
+
+        interactive_slider = interactive(
+            slider_callback,
+            new_wireframe_thickness=wireframe_thickness_slider,
+            new_idx=idx_slider
+        )
+        full_output = HBox([visualizer.canvas, interactive_slider])
+        display(full_output, visualizer.out)
diff --git a/trellis/utils/random_utils.py b/trellis/utils/random_utils.py
new file mode 100644
index 0000000..5b668c2
--- /dev/null
+++ b/trellis/utils/random_utils.py
@@ -0,0 +1,30 @@
+import numpy as np
+
+PRIMES = [2, 3, 5, 7, 11, 13, 17, 19, 23, 29, 31, 37, 41, 43, 47, 53]
+
+def radical_inverse(base, n):
+    val = 0
+    inv_base = 1.0 / base
+    inv_base_n = inv_base
+    while n > 0:
+        digit = n % base
+        val += digit * inv_base_n
+        n //= base
+        inv_base_n *= inv_base
+    return val
+
+def halton_sequence(dim, n):
+    return [radical_inverse(PRIMES[dim], n) for dim in range(dim)]
+
+def hammersley_sequence(dim, n, num_samples):
+    return [n / num_samples] + halton_sequence(dim - 1, n)
+
+def sphere_hammersley_sequence(n, num_samples, offset=(0, 0), remap=False):
+    u, v = hammersley_sequence(2, n, num_samples)
+    u += offset[0] / num_samples
+    v += offset[1]
+    if remap:
+        u = 2 * u if u < 0.25 else 2 / 3 * u + 1 / 3
+    theta = np.arccos(1 - 2 * u) - np.pi / 2
+    phi = v * 2 * np.pi
+    return [phi, theta]
\ No newline at end of file
diff --git a/trellis/utils/render_utils.py b/trellis/utils/render_utils.py
new file mode 100644
index 0000000..c13d902
--- /dev/null
+++ b/trellis/utils/render_utils.py
@@ -0,0 +1,120 @@
+import torch
+import numpy as np
+from tqdm import tqdm
+import utils3d
+from PIL import Image
+
+from ..renderers import OctreeRenderer, GaussianRenderer, MeshRenderer
+from ..representations import Octree, Gaussian, MeshExtractResult
+from ..modules import sparse as sp
+from .random_utils import sphere_hammersley_sequence
+
+
+def yaw_pitch_r_fov_to_extrinsics_intrinsics(yaws, pitchs, rs, fovs):
+    is_list = isinstance(yaws, list)
+    if not is_list:
+        yaws = [yaws]
+        pitchs = [pitchs]
+    if not isinstance(rs, list):
+        rs = [rs] * len(yaws)
+    if not isinstance(fovs, list):
+        fovs = [fovs] * len(yaws)
+    extrinsics = []
+    intrinsics = []
+    for yaw, pitch, r, fov in zip(yaws, pitchs, rs, fovs):
+        fov = torch.deg2rad(torch.tensor(float(fov))).cuda()
+        yaw = torch.tensor(float(yaw)).cuda()
+        pitch = torch.tensor(float(pitch)).cuda()
+        orig = torch.tensor([
+            torch.sin(yaw) * torch.cos(pitch),
+            torch.cos(yaw) * torch.cos(pitch),
+            torch.sin(pitch),
+        ]).cuda() * r
+        extr = utils3d.torch.extrinsics_look_at(orig, torch.tensor([0, 0, 0]).float().cuda(), torch.tensor([0, 0, 1]).float().cuda())
+        intr = utils3d.torch.intrinsics_from_fov_xy(fov, fov)
+        extrinsics.append(extr)
+        intrinsics.append(intr)
+    if not is_list:
+        extrinsics = extrinsics[0]
+        intrinsics = intrinsics[0]
+    return extrinsics, intrinsics
+
+
+def get_renderer(sample, **kwargs):
+    if isinstance(sample, Octree):
+        renderer = OctreeRenderer()
+        renderer.rendering_options.resolution = kwargs.get('resolution', 512)
+        renderer.rendering_options.near = kwargs.get('near', 0.8)
+        renderer.rendering_options.far = kwargs.get('far', 1.6)
+        renderer.rendering_options.bg_color = kwargs.get('bg_color', (0, 0, 0))
+        renderer.rendering_options.ssaa = kwargs.get('ssaa', 4)
+        renderer.pipe.primitive = sample.primitive
+    elif isinstance(sample, Gaussian):
+        renderer = GaussianRenderer()
+        renderer.rendering_options.resolution = kwargs.get('resolution', 512)
+        renderer.rendering_options.near = kwargs.get('near', 0.8)
+        renderer.rendering_options.far = kwargs.get('far', 1.6)
+        renderer.rendering_options.bg_color = kwargs.get('bg_color', (0, 0, 0))
+        renderer.rendering_options.ssaa = kwargs.get('ssaa', 1)
+        renderer.pipe.kernel_size = kwargs.get('kernel_size', 0.1)
+        renderer.pipe.use_mip_gaussian = True
+    elif isinstance(sample, MeshExtractResult):
+        renderer = MeshRenderer()
+        renderer.rendering_options.resolution = kwargs.get('resolution', 512)
+        renderer.rendering_options.near = kwargs.get('near', 1)
+        renderer.rendering_options.far = kwargs.get('far', 100)
+        renderer.rendering_options.ssaa = kwargs.get('ssaa', 4)
+    else:
+        raise ValueError(f'Unsupported sample type: {type(sample)}')
+    return renderer
+
+
+def render_frames(sample, extrinsics, intrinsics, options={}, colors_overwrite=None, verbose=True, **kwargs):
+    renderer = get_renderer(sample, **options)
+    rets = {}
+    for j, (extr, intr) in tqdm(enumerate(zip(extrinsics, intrinsics)), desc='Rendering', disable=not verbose):
+        if isinstance(sample, MeshExtractResult):
+            res = renderer.render(sample, extr, intr)
+            if 'normal' not in rets: rets['normal'] = []
+            rets['normal'].append(np.clip(res['normal'].detach().cpu().numpy().transpose(1, 2, 0) * 255, 0, 255).astype(np.uint8))
+        else:
+            res = renderer.render(sample, extr, intr, colors_overwrite=colors_overwrite)
+            if 'color' not in rets: rets['color'] = []
+            if 'depth' not in rets: rets['depth'] = []
+            rets['color'].append(np.clip(res['color'].detach().cpu().numpy().transpose(1, 2, 0) * 255, 0, 255).astype(np.uint8))
+            if 'percent_depth' in res:
+                rets['depth'].append(res['percent_depth'].detach().cpu().numpy())
+            elif 'depth' in res:
+                rets['depth'].append(res['depth'].detach().cpu().numpy())
+            else:
+                rets['depth'].append(None)
+    return rets
+
+
+def render_video(sample, resolution=512, bg_color=(0, 0, 0), num_frames=300, r=2, fov=40, **kwargs):
+    yaws = torch.linspace(0, 2 * 3.1415, num_frames)
+    pitch = 0.25 + 0.5 * torch.sin(torch.linspace(0, 2 * 3.1415, num_frames))
+    yaws = yaws.tolist()
+    pitch = pitch.tolist()
+    extrinsics, intrinsics = yaw_pitch_r_fov_to_extrinsics_intrinsics(yaws, pitch, r, fov)
+    return render_frames(sample, extrinsics, intrinsics, {'resolution': resolution, 'bg_color': bg_color}, **kwargs)
+
+
+def render_multiview(sample, resolution=512, nviews=30):
+    r = 2
+    fov = 40
+    cams = [sphere_hammersley_sequence(i, nviews) for i in range(nviews)]
+    yaws = [cam[0] for cam in cams]
+    pitchs = [cam[1] for cam in cams]
+    extrinsics, intrinsics = yaw_pitch_r_fov_to_extrinsics_intrinsics(yaws, pitchs, r, fov)
+    res = render_frames(sample, extrinsics, intrinsics, {'resolution': resolution, 'bg_color': (0, 0, 0)})
+    return res['color'], extrinsics, intrinsics
+
+
+def render_snapshot(samples, resolution=512, bg_color=(0, 0, 0), offset=(-16 / 180 * np.pi, 20 / 180 * np.pi), r=10, fov=8, **kwargs):
+    yaw = [0, np.pi/2, np.pi, 3*np.pi/2]
+    yaw_offset = offset[0]
+    yaw = [y + yaw_offset for y in yaw]
+    pitch = [offset[1] for _ in range(4)]
+    extrinsics, intrinsics = yaw_pitch_r_fov_to_extrinsics_intrinsics(yaw, pitch, r, fov)
+    return render_frames(samples, extrinsics, intrinsics, {'resolution': resolution, 'bg_color': bg_color}, **kwargs)