diff --git a/workflows/simbox/tools/art/close_h_down/7130/usd/Kps/close_h_down/info.json b/workflows/simbox/tools/art/close_h_down/7130/usd/Kps/close_h_down/info.json index 6f16d10..9f7da8d 100644 --- a/workflows/simbox/tools/art/close_h_down/7130/usd/Kps/close_h_down/info.json +++ b/workflows/simbox/tools/art/close_h_down/7130/usd/Kps/close_h_down/info.json @@ -17,14 +17,14 @@ 0.21906105089025496, 1.0 ], - "object_name": "laptop7130", + "object_name": "oven7130", "object_usd": "YOUR_PATH_TO_7130/usd/instance.usd", "object_link0_rot_axis": "-x", "object_link0_contact_axis": "-y", "object_base_front_axis": "z", "joint_index": 0, - "object_prim_path": "/laptop7130", - "object_link_path": "/laptop7130/instance/group_1", - "object_base_path": "/laptop7130/instance/group_0", - "object_revolute_joint_path": "/laptop7130/instance/group_1/RevoluteJoint" + "object_prim_path": "/oven7130", + "object_link_path": "/oven7130/instance/group_1", + "object_base_path": "/oven7130/instance/group_0", + "object_revolute_joint_path": "/oven7130/instance/group_1/RevoluteJoint" } \ No newline at end of file diff --git a/workflows/simbox/tools/art/close_h_down/7130/usd/Kps/close_h_down/keypoints.json b/workflows/simbox/tools/art/close_h_down/7130/usd/Kps/close_h_down/keypoints.json index 0311af9..c87b21d 100644 --- a/workflows/simbox/tools/art/close_h_down/7130/usd/Kps/close_h_down/keypoints.json +++ b/workflows/simbox/tools/art/close_h_down/7130/usd/Kps/close_h_down/keypoints.json @@ -1,13 +1,13 @@ { "keypoints": { "red": [ - -0.018498502245147763, - -0.1530302670588388, - 0.6257089972496033 + -0.020657214246070227, + -0.18320747740740667, + 0.6257089972496034 ], "yellow": [ - -0.42819953949226636, - -0.1526598858392625, + -0.4408943490044956, + -0.18718575969205112, 0.6257089972496033 ] } diff --git a/workflows/simbox/tools/art/close_h_down/7130/usd/keypoints_config.json b/workflows/simbox/tools/art/close_h_down/7130/usd/keypoints_config.json index d7ec0ca..b45469b 100644 --- a/workflows/simbox/tools/art/close_h_down/7130/usd/keypoints_config.json +++ b/workflows/simbox/tools/art/close_h_down/7130/usd/keypoints_config.json @@ -1,7 +1,7 @@ { "DIR": "YOUR_PATH_TO_7130/usd", "USD_NAME": "7130.usd", - "INSTANCE_NAME": "laptop7130", + "INSTANCE_NAME": "oven7130", "link0_initial_prim_path": "/root/group_1", "base_initial_prim_path": "/root/group_0", "revolute_joint_initial_prim_path": "/root/group_1/RevoluteJoint", diff --git a/workflows/simbox/tools/art/close_h_down/BASE_FRONT_AXIS.jpg b/workflows/simbox/tools/art/close_h_down/BASE_FRONT_AXIS.jpg new file mode 100644 index 0000000..0a6ecdb Binary files /dev/null and b/workflows/simbox/tools/art/close_h_down/BASE_FRONT_AXIS.jpg differ diff --git a/workflows/simbox/tools/art/close_h_down/LINK0_CONTACT_AXIS.jpg b/workflows/simbox/tools/art/close_h_down/LINK0_CONTACT_AXIS.jpg new file mode 100644 index 0000000..faeaf7f Binary files /dev/null and b/workflows/simbox/tools/art/close_h_down/LINK0_CONTACT_AXIS.jpg differ diff --git a/workflows/simbox/tools/art/close_h_down/LINK0_ROT_AXIS.jpg b/workflows/simbox/tools/art/close_h_down/LINK0_ROT_AXIS.jpg new file mode 100644 index 0000000..0399ce6 Binary files /dev/null and b/workflows/simbox/tools/art/close_h_down/LINK0_ROT_AXIS.jpg differ diff --git a/workflows/simbox/tools/art/close_h_down/head.jpg b/workflows/simbox/tools/art/close_h_down/head.jpg new file mode 100644 index 0000000..b4a5a3f Binary files /dev/null and b/workflows/simbox/tools/art/close_h_down/head.jpg differ diff --git a/workflows/simbox/tools/art/close_h_down/readme.md b/workflows/simbox/tools/art/close_h_down/readme.md index 545c236..83ee11a 100644 --- a/workflows/simbox/tools/art/close_h_down/readme.md +++ b/workflows/simbox/tools/art/close_h_down/readme.md @@ -7,8 +7,8 @@ We provide an optimized and simplified annotation pipeline that removes many red | Configuration | Example | Description | |---------------|---------|-------------| | **DIR** | `YOUR_PATH_TO_DIR/usd` | Directory where USD files are stored | -| **USD_NAME** | `9748.usd` | Scene description file name | -| **INSTANCE_NAME** | `laptop9748` | Model identifier in the scene. You can name it yourself, preferably matching the generated file name | +| **USD_NAME** | `7130.usd` | Scene description file name | +| **INSTANCE_NAME** | `oven7130` | Model identifier in the scene. You can name it yourself, preferably matching the generated file name | ## 🔧 Model Structure Configuration @@ -23,15 +23,15 @@ We provide an optimized and simplified annotation pipeline that removes many red | Axis Type | Example | Description | Visualization | |-----------|---------|-------------|---------------| -| **LINK0_ROT_AXIS** | `x` | In the local coordinate system of the rotating joint, the axis direction pointing horizontally rightward | ![LINK0_ROT_AXIS Example](LINK0_ROT_AXIS.jpg) | -| **BASE_FRONT_AXIS** | `z` | In the local coordinate system of the laptop base link, the axis direction facing the front | ![BASE_FRONT_AXIS Example](BASE_FRONT_AXIS.jpg) | -| **LINK0_CONTACT_AXIS** | `-x` | In the local coordinate system of the contact link, the axis direction pointing horizontally leftward | ![LINK0_CONTACT_AXIS Example](LINK0_CONTACT_AXIS.jpg) | +| **LINK0_ROT_AXIS** | `-x` | In the local coordinate system of the rotating joint, the axis direction pointing horizontally leftward | ![LINK0_ROT_AXIS Example](LINK0_ROT_AXIS.jpg) | +| **BASE_FRONT_AXIS** | `z` | In the local coordinate system of the oven base link, the axis direction facing the front | ![BASE_FRONT_AXIS Example](BASE_FRONT_AXIS.jpg) | +| **LINK0_CONTACT_AXIS** | `-y` | In the local coordinate system of the contact link, the axis direction pointing vertically downward | ![LINK0_CONTACT_AXIS Example](LINK0_CONTACT_AXIS.jpg) | ## 📏 Physical Parameters | Parameter | Example | Description | |-----------|---------|-------------| -| **SCALED_VOLUME** | `0.01` | Default value 0.01 for laptop objects | +| **SCALED_VOLUME** | `0.02` | Default value 0.02 for oven objects | --- @@ -39,7 +39,7 @@ We provide an optimized and simplified annotation pipeline that removes many red | Point Type | Description | Visualization | |------------|-------------|---------------| -| First Point (articulated_object_head) | `Desired base position where the gripper contacts the laptop` | ![First Point Diagram](head.jpg) | -| Second Point (articulated_object_tail) | `The line direction from the first point should be perpendicular to the laptop's rotation axis` | ![Second Point Diagram](tail.jpg) | +| First Point (articulated_object_head) | `Desired base position where the gripper contacts the oven` | ![First Point Diagram](head.jpg) | +| Second Point (articulated_object_tail) | `The line direction from the first point should be parallel to the oven's rotation axis` | ![Second Point Diagram](tail.jpg) | --- \ No newline at end of file diff --git a/workflows/simbox/tools/art/close_h_down/tail.jpg b/workflows/simbox/tools/art/close_h_down/tail.jpg new file mode 100644 index 0000000..1a1e5ab Binary files /dev/null and b/workflows/simbox/tools/art/close_h_down/tail.jpg differ