Question about hand object contact poiints

[taeyeopl]

Does DexYCB provide hand-object contact points similar to the contactpose demo?
(https://contactpose.cc.gatech.edu/contactpose_explorer.html)

If hand-object contact points are not available, would it be feasible to estimate contact points by calculating the distance between hand pose and object surfaces? Any advice related to contact points would be really helpful.

Any insights or advice regarding contact point detection would be greatly appreciated.

[ychao-nvidia]

The dataset does not have the contact information available. However it shouldn't be difficult to extract such information from the current format. We can already extract the vertices of the hand and object meshes from the pose annotation (see the visualize_pose.py example). As you said you can calculate the distance between the hand and object vertices and apply a threshold to infer contacts. Happy to follow up if you encounter any issues there.