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additioanl articulation tools

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Leon998
2026-03-20 15:34:56 +08:00
parent 8f3b62b6a4
commit 085bfa8205
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workflows/simbox/tools/art/close_h_down/readme.md
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@@ -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 |
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@@ -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) |
---