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rongakowang / DeepSimHO

[NeurIPS 2023] DeepSimHO: Stable Pose Estimation for Hand-Object Interaction via Physics Simulation
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Gravity Direction #2

Closed zhoujun-7 closed 6 months ago

zhoujun-7 commented 6 months ago

Hi Wang,

Thanks for your sharing codes. The "hand_verts" and "obj_verts" are in camera coordinate, which are directly fed to MuJoCo for physical simulation. Is the gravity in MuJoCo aligned with real world? And what is the direction of MuJoCo gravity?

Looking forward to your reply.

Best, Jun

rongakowang commented 6 months ago

Hi Jun:

We made the assumption that the world gravity roughly aligns with the camera coordinate (y axis in the image space) and MuJoCo environment is set to reflect this. You can visualize the xml model in MuJoCo for a better understanding.

zhoujun-7 commented 6 months ago

Thanks for your answer.