modified: README.md

new file: app.py
new file: assets/ball/deform_node.txt
new file: assets/ball/surface_coordinate.txt
new file: assets/ball/surface_node.txt
new file: assets/ball/surface_triangle.txt
new file: requirements.txt

README.md

@@ -1,8 +1,8 @@
 ---
-title: Ballnet Demo
-emoji: 🚀
-colorFrom: gray
-colorTo: green
+title: BallNet Demo
+emoji: 🖐️
+colorFrom: blue
+colorTo: yellow
 sdk: gradio
 sdk_version: 5.49.1
 app_file: app.py
@@ -10,4 +10,13 @@ pinned: false
 license: bsd-3-clause
 ---
 
-Check out the configuration reference at https://huggingface.co/docs/hub/spaces-config-reference
+# BallNet Demo
+
+This is an interactive demo for BallNet, a deep learning model for estimating force and shape of soft robotic fingers. The demo allows users to manipulate the motion of the finger as the model inputs and visualize the predicted force and shape outputs.
+
+More details about the models can be found in the [BallNet](https://huggingface.co/asRobotics/ballnet) model cards.
+
+## Features
+
+- Adjust finger motion parameters using sliders.
+- Visualize predicted force and shape in real-time.

app.py

@@ -0,0 +1,189 @@
+#!/usr/bin/env python
+
+"""
+BallNet Demo App
+"""
+
+import os
+import numpy as np
+import trimesh
+import pandas as pd
+import tempfile
+import gradio as gr
+import matplotlib as mpl
+from huggingface_hub import hf_hub_download
+import onnxruntime as ort
+
+model_dict = {
+    "BallNet": "asRobotics/ballnet",
+}
+
+vertices_dict = {}
+faces_dict = {}
+def_index_dict = {}
+for name in model_dict.keys():
+    vertices_dict[name] = np.loadtxt(
+        f"assets/{name.lower().replace('net', '')}/surface_coordinate.txt", delimiter=","
+    )
+    faces_dict[name] = (
+        np.loadtxt(
+            f"assets/{name.lower().replace('net', '')}/surface_triangle.txt",
+            delimiter=",",
+            dtype=int,
+        )
+        - 1
+    )
+    def_index_dict[name] = np.loadtxt(
+        f"assets/{name.lower().replace('net', '')}/deform_node.txt", dtype=int
+    )
+colormap = mpl.colormaps.get_cmap("viridis")
+cmin = 0.0
+cmax = 12.0
+
+def load_model(model_name="ballnet"):
+    repo_id = f"asRobotics/{model_name}"
+    model_filename = "model.onnx"
+    model_path = hf_hub_download(repo_id=repo_id, filename=model_filename)
+    return ort.InferenceSession(model_path)
+
+ort_dict = {}
+for name, path in model_dict.items():
+    try:
+        ort_dict[name] = load_model(name)
+    except Exception as e:
+        print(f"Warning: Could not load model '{name}' from '{path}'. Error: {e}")
+
+
+def make_double_sided(mesh: trimesh.Trimesh) -> trimesh.Trimesh:
+    faces_front = mesh.faces.copy()
+    vertices = mesh.vertices.copy()
+    faces_back = np.fliplr(faces_front) + len(vertices)
+    vertices_double = np.vstack([vertices, vertices])
+    faces_double = np.vstack([faces_front, faces_back])
+
+    if hasattr(mesh.visual, "vertex_colors") and mesh.visual.vertex_colors is not None:
+        colors = mesh.visual.vertex_colors.copy()
+        colors_double = np.vstack([colors, colors])
+    else:
+        colors_double = None
+
+    mesh_double = trimesh.Trimesh(
+        vertices=vertices_double,
+        faces=faces_double,
+        vertex_colors=colors_double,
+        process=False,
+    )
+
+    return mesh_double
+
+
+def predict_from_motion(dx, dy, dz, rx, ry, rz, model_name):
+    motion = np.array(
+        [dx, dy, dz, rx / 180.0 * np.pi, ry / 180.0 * np.pi, rz / 180.0 * np.pi],
+        dtype=np.float32,
+    ).reshape(1, -1)
+    assert motion.shape[1] == 6, "Motion must be 6D (x,y,z,rx,ry,rz)"
+
+    outputs = ort_dict[model_name].run(None, {"motion": motion})
+    force = np.array(outputs[0]).flatten()
+    nodes = np.array(outputs[1]).reshape(-1, 3)
+
+    df = pd.DataFrame(
+        force.reshape(1, -1),
+        columns=["Fx (N)", "Fy (N)", "Fz (N)", "Tx (Nmm)", "Ty (Nmm)", "Tz (Nmm)"],
+    )
+    df = df.style.format("{:.3f}")
+
+    delta_vertices = np.zeros_like(vertices_dict[model_name])
+    delta_vertices[def_index_dict[model_name] - 1] += nodes.reshape(-1, 3)
+    new_vertices = vertices_dict[model_name] + delta_vertices
+
+    rot_x_neg90 = np.array(
+        [
+            [1, 0, 0],
+            [0, 0, 1],
+            [0, -1, 0],
+        ]
+    )
+    new_vertices = new_vertices @ rot_x_neg90.T
+
+    norm_dist = np.clip(np.linalg.norm(delta_vertices, axis=1), cmin, cmax)
+    colors = (colormap((norm_dist - cmin) / (cmax - cmin)) * 255).astype(np.uint8)
+
+    mesh = trimesh.Trimesh(
+        vertices=new_vertices,
+        faces=faces_dict[model_name],
+        vertex_colors=colors,
+        process=False,
+    )
+    mesh = make_double_sided(mesh)
+
+    tmp_file = tempfile.NamedTemporaryFile(delete=False, suffix=".glb")
+    mesh.export(tmp_file.name, file_type="glb")
+
+    return df, tmp_file.name
+
+
+with gr.Blocks(title="BallNet Demo") as demo:
+    gr.Markdown("# 🖐️ BallNet Demo\n\n")
+
+    with gr.Row():
+        with gr.Column():
+            gr.Markdown("## Model")
+            model = gr.Dropdown(
+                choices=list(model_dict.keys()),
+                value=list(model_dict.keys())[0],
+                label="Select Model",
+                show_label=False,
+                interactive=False,
+            )
+
+            gr.Markdown("## Motion Inputs")
+            gr.Markdown("### Translation (mm)")
+            dx = gr.Slider(-10, 10, 0, step=0.1, label="Dx")
+            dy = gr.Slider(-10, 10, 0, step=0.1, label="Dy")
+            dz = gr.Slider(-3, 3, 0, step=0.1, label="Dz")
+            gr.Markdown("### Rotation (degrees)")
+            rx = gr.Slider(-30, 30, 0, step=0.5, label="Rx")
+            ry = gr.Slider(-30, 30, 0, step=0.5, label="Ry")
+            rz = gr.Slider(-30, 30, 0, step=0.5, label="Rz")
+
+        with gr.Column():
+            gr.Markdown("## Force Outputs")
+            output_force = gr.DataFrame(
+                headers=[
+                    "Fx (N)",
+                    "Fy (N)",
+                    "Fz (N)",
+                    "Tx (Nmm)",
+                    "Ty (Nmm)",
+                    "Tz (Nmm)",
+                ],
+                label="Predicted Force",
+                show_label=False,
+                datatype=["number"] * 6,
+                row_count=(1, "fixed"),
+                interactive=False,
+                column_widths=["16%"] * 6,
+            )
+
+            gr.Markdown("## Mesh Outputs")
+            height = 500
+            output_mesh = gr.Model3D(
+                label="Mesh",
+                show_label=False,
+                height=height,
+                camera_position=[45, 60, 150],
+            )
+
+    inputs = [dx, dy, dz, rx, ry, rz, model]
+    for inp in inputs:
+        inp.change(
+            fn=predict_from_motion, inputs=inputs, outputs=[output_force, output_mesh]
+        )
+
+    demo.load(
+        fn=predict_from_motion, inputs=inputs, outputs=[output_force, output_mesh]
+    )
+
+demo.launch(server_name="0.0.0.0", server_port=int(os.environ.get("PORT", 7860)))

assets/ball/deform_node.txt

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assets/ball/surface_coordinate.txt

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requirements.txt

@@ -0,0 +1,8 @@
+gradio>=4.44
+huggingface_hub
+onnxruntime
+numpy
+pandas
+matplotlib
+trimesh
+scipy