change_object not implemented error

[quanvuong]

Thank you for the codebase!

Should this line

pcreader.change_object(cad_path, cad_scale)

be changed to

pcreader._renderer._load_object(cad_path, cad_scale)

because SceneRenderer does not implement change_object function.

Thanks!

[MartinSmeyer]

It's indeed missing and I will add it shortly. For a quick fix you can change this

https://github.com/NVlabs/contact_graspnet/blob/f28013a1a9f593fafc7c6dc0ca022b63464800a0/contact_graspnet/data.py#L679

to

self._renderer.change_scene([cad_path], [cad_scale], [np.eye(4)])