Hi sorry for the late reply. I'll need to check whether I can still find that piece of rendering code. However, it's also easy to implement. Once you have the pose estimation of the hand and object given by the algorithm. You can transform the hand and object mesh in any rendering framework and do the rendering.

Thanks for your reply. But I am still wondering how to deform the joint given the joint configuration? Dose it need first read the transformation matrix between joint part mesh in the Urdf file and transform each joint part mesh to corresponding coordinates? May I ask if there is an on-the-shelf python library or a software to complete the joint deformation?