Chair Imagination

Is That a Chair? Imagining Affordances Using Simulations of an Articulated Human Body (ICRA2020)

Hongtao Wu, Deven Misra, Gregory Chirikjian

• Paper on IEEE Xplore
• Paper on arxiv
• Project Page & Video Results
• Data

Installation

• Pybullet (3.0.8): Simulation platform

pip install pybullet==3.0.8

• Trimesh (3.9.1): Used for measure geometry of the object

pip install trimesh==3.9.1

• Miscellaneous

pip install numpy==1.16.6

• V-HACD: Build the library from the V-HACD repo

  git clone https://github.com/kmammou/v-hacd
  cd v-hacd/src/
  mkdir build && cd build
  cmake ..
  make
  
  

• meshlab (2020.03): Used for getting the physical information of the scanned object. Latest version of meshlab will not work with xml file. It needs python 3.6 (Pymeshlab) to interface with. Download the source code from the Release page. Clone the vcglib after unzip the code. Remember to checkout to the correct commit meshlab 2020.03 was using.

  cd <PATH_TO_MESHLAB>
  git clone https://github.com/cnr-isti-vclab/vcglib.git
  cd vcglib
  git checkout 5fa560e9e6
  

  Then go to the root directory and use the bash file in /install to install.

  cd ../
  bash install/linux/linux_setup_env_ubuntu.sh
  bash install/linux/linux_make_it.sh
  

  The executable of meshlab and meshlabserver will be installed in /distrib. We will be using the meshlabserver in the code to compute geometric metrics.

Usage

• Specify the data folder path, result folder, v-hacd path and meshlab path in ./src/chair_imagination_clasification.py

• Run the experiment. python src/chair_imagination_clasification.py

Citation

If you find this code and/or the data useful in your work, please consider citing

@inproceedings{wu2020chair,
  title={Is that a chair? imagining affordances using simulations of an articulated human body},
  author={Wu, Hongtao and Misra, Deven and Chirikjian, Gregory S},
  booktitle={2020 IEEE International Conference on Robotics and Automation (ICRA)},
  pages={7240--7246},
  year={2020},
  organization={IEEE}
}