change_object not implemented error

[Quan Vuong]

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!

[Martin Sundermeyer]

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

contact_graspnet/contact_graspnet/data.py

Line 679 in f28013a

 self._renderer.change_object(cad_path, cad_scale) 

to

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