stiffness-visualizer

A script to visualize object stiffness map

Installation

• Install the package using

pip install -e . 

• Tested with Python 3.7

Dependencies

• numpy
• matplotlib
• trimesh

   pip install trimesh

  • Details see https://github.com/mikedh/trimesh
• pyrender (optional)

   pip install pyrender

  • Details see https://pypi.org/project/pyrender/

Quick Start

• Visualize the stiffness map for the default mesh (plastic_cup)

python tools/visualize_stiffness_map.py

• Visualize the stiffness map for a mesh, e.g. shampoo, in the dataset

python tools/visualize_stiffness_map.py -s stiffness_maps/shampoo.json -m meshes/shampoo.obj

How to cite?

@inproceedings{xu2020minimal,
   title={Minimal Work: A Grasp Quality Metric for Deformable Hollow Objects},
   author={Xu, Jingyi and Danielczuk, Michael and Ichnowski, Jeff and Mahler, Jeffrey and Steinbach, Eckehard and Goldberg, Ken},
   booktitle={{IEEE} International Conference on Robotics and Automation (ICRA)}, 
   pages={1546--1552},
   year={2020}
}

License

This work is licensed under a Creative Commons Attribution-NonCommercial 4.0 International License.