icra20-hand-object-pose

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how to render robot model given different joint configuration

2

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...

hetolin

i think here is a bug.

2

https://github.com/wenbowen123/icra20-hand-object-pose/blob/da59809d862ee7232eb2c3b8751f30acebf87a90/src/perception/src/Hand.cpp#L749 float pitch = rpy(1); // Rotation along y axis pitch = std::min(std::abs(pitch), std::abs(static_cast(M_PI)-pitch)); pitch = std::min(std::abs(pitch), std::abs(static_cast(M_PI)+pitch)); if pitch is -3.14036 at the beginning, then the pitch will be...

jih189

https://github.com/wenbowen123/icra20-hand-object-pose/blob/da59809d862ee7232eb2c3b8751f30acebf87a90/src/perception/src/Hand.cpp#L91 please check this line. because pointIdxNKNSearch is the index of the closest point in scene_hand_region_removed_noise, but you pass it to _pso_args.scene_hand_region for accessing the point. Should it be _pso_args.scene_hand_region_removed_noise...

jih189