I actually used a slightly modified version of his Illustrate program (https://github.com/ccsb-scripps/Illustrate https://github.com/ccsb-scripps/Illustrate) fo

I actually used a slightly modified version of his Illustrate program (https://github.com/ccsb-scripps/Illustrate https://github.com/ccsb-scripps/Illustrate) for rendering. The toughest part was getting the right pose; the bot tried to pick an optimal one, but in some cases I still had to check the render and adjust manually.