question about hand sample

[lingtengqiu]

Hi, thanks for your great work.

There are some questions I feel confused.

First, you said' New objects can be given to the model by providing the path to the meshes (./input) and the list of object (input.json). The object needs to be reachable when a hand wrist is at the origin and should not be in [-x,-z] quadrant (see example meshes).' I am not sure whether it means I need make all of vertices of objects (x>0,z>0)? Second, about the scale of object? I download some objs from YCB-benchmark. I find the scale of each obejct is different. So whether I need scale the object to fixed size? Finally, questions about the number of vertices of objs? could you tell me the range of the number of vertices of object is suitable to your codes?

Look forward to your reply.

best Qiu

[korrawe]

Hi Qiu,

1. We mean the object mesh need to be close to the origin but not at the origin. The model is trained in a way that the generated hand wrist will be at the origin. One way to do this is to put your object center at the same location as the center of example object we provide. The quadrant constraint is due to the bias in the training data that does not have many object in the [-x,-z] quadrant. It should work if your object venter is in (x>0,z>0).

2. We did not change the scale of the object so it should be in real world scale (cm). The obman dataset has object up to 40cm I believe. You could try to make it roughly the same scale as the provided object.

3. We sample the surface vertices from the given mesh during inference here. The provided model was trained with 500 surface points.

Best, Korrawe