BulletRenderer

This repository provides an environment for rendering images via pybullet.

Installation

apt-get install meshlab
pip3 install -r requirement.txt 

Demo

if you want to run render_mesh.py succussfully, you mush change the object mesh path. It is recommended that you first use urdf_demo.py to generate the corresponding URDF for the mesh, and then use render_urdf.py for faster rendering.

# CUDA ID of GPU if you want to use gpu_renderer interface
export CUDA_VISIBLE_DEVICES=0
python -m render_mesh.py

• render_mesh.py will create an intermediate URDF file in the cache folder.
• You can also create the URDF file by learning the urdf_demo.py.
• If you have the URDF, you can directly run render_urdf.py after changing the path of URDF.

Rgb	Mask	pointcloud

This project is separate from the original RoboPose codebase.