robot_render

Generates rendered images of the robot body from the point of view of its camera using the robot's URDF (and corresponding 3D meshes), and the joint positions.

Requirements

• urdfpy (for now use this fork since the original repository has not yet merged some fixes)
• pyrender
• PIL
• yaml
• numpy

Resources

URDF

You will need the URDF of the robot you want to render. For the HSR robot, which was used to generate this dataset, the URDF files can be found here.

Clone the repositories hsr_description and hsr_meshes into your ros workspace and build them with catkin.

Note: There is currently a typo in the URDF file for hsrb4s; a PR to fix this has not been merged yet. You can apply the following patch:

diff --git a/robots/hsrb4s.urdf b/robots/hsrb4s.urdf
index 029b2e8..8051d3f 100644
--- a/robots/hsrb4s.urdf
+++ b/robots/hsrb4s.urdf
@@ -461,7 +461,7 @@ POSSIBILITY OF SUCH DAMAGE.
     </visual>
     <collision>
       <geometry>
-        <mesh filename="package://hsr_meshes/meshes/torso_v0/torso.std"/>
+        <mesh filename="package://hsr_meshes/meshes/torso_v0/torso.stl"/>
       </geometry>
     </collision>
   </link>
diff --git a/urdf/torso_v0/torso.urdf.xacro b/urdf/torso_v0/torso.urdf.xacro
index 8f83b9c..148cd4b 100644
--- a/urdf/torso_v0/torso.urdf.xacro
+++ b/urdf/torso_v0/torso.urdf.xacro
@@ -64,7 +64,7 @@ POSSIBILITY OF SUCH DAMAGE.
             <collision>
                 <geometry>
                     <xacro:unless value="${g_use_obj_for_collision}">
-                        <mesh filename="package://hsr_meshes/meshes/torso_v0/torso.std" />
+                        <mesh filename="package://hsr_meshes/meshes/torso_v0/torso.stl" />
                     </xacro:unless>
                     <xacro:if value="${g_use_obj_for_collision}">
                         <mesh filename="package://hsr_meshes/meshes/torso_v0/torso.collision.obj" />

Intrinsic camera matrix

You need the intrinsic camera matrix of the camera of your robot. The provided rgb_camera_calibration.txt contains the calibration parameters of the Asus Xtion Pro on the Toyota HSR which was used to collect our dataset.

Run

python3 render_robot_body.py <path to trial folder> <path to URDF file>

Example:

python3 render_robot_body.py /media/ubuntu/data/validation/trial_115 /home/ubuntu/catkin_ws/src/hsr_description/robots/hsrb4s.urdf

If you want to preview the rendered images without saving them, append -p to the above command