additioanl articulation tools

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"
 }

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
         ]
     }

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",

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) |
 
 ---