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wenbowen123 / icra20-hand-object-pose

[ICRA 2020] Robust, Occlusion-aware Pose Estimation for Objects Grasped by Adaptive Hands
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how to render robot model given different joint configuration #4

Open hetolin opened 3 years ago

hetolin commented 3 years ago

Hi, I am interested in your research and it is really great work. Could I ask how to render the whole robot model given different joint configuration, as the picture is shown as follows,

截屏2021-02-19 19 19 43

Could you provide the code or details on how to generate it? thank you.

wenbowen123 commented 3 years ago

Hi sorry for the late reply. I'll need to check whether I can still find that piece of rendering code. However, it's also easy to implement. Once you have the pose estimation of the hand and object given by the algorithm. You can transform the hand and object mesh in any rendering framework and do the rendering.

hetolin commented 3 years ago

Thanks for your reply. But I am still wondering how to deform the joint given the joint configuration? Dose it need first read the transformation matrix between joint part mesh in the Urdf file and transform each joint part mesh to corresponding coordinates? May I ask if there is an on-the-shelf python library or a software to complete the joint deformation?