additioanl articulation tools

workflows/simbox/core/configs/tasks/art/franka/close_the_laptop/close_the_laptop.yaml

@@ -61,7 +61,7 @@ tasks:
         random_config:
           pos_range: [
             [-0.025, -0.50, -0.1],
-            [0.025, -0.50, 0.1]
+            [0.025, -0.50, 0.0]
           ]
           yaw_rotation: [0.0, 0.0]
 

workflows/simbox/core/skills/close.py

@@ -46,6 +46,7 @@ class Close(BaseSkill):
         ]
         self.collision_valid = True
         self.process_valid = True
+        self.success_mode = self.planner_setting.get("success_mode", "zero")
 
     def setup_kpam(self):
         self.planner = KPAMPlanner(
@@ -190,5 +191,22 @@ class Close(BaseSkill):
             )
 
         curr_joint_p = self.art_obj._articulation_view.get_joint_positions()[:, self.art_obj.object_joint_index]
+        init_joint_p = self.art_obj.articulation_initial_joint_position
 
-        return np.abs(curr_joint_p) <= self.success_threshold and self.collision_valid and self.process_valid
+        print(
+            "curr_joint_p: ", curr_joint_p,
+            "init_joint_p: ", init_joint_p,
+            "distance: ", np.abs(curr_joint_p - init_joint_p),
+            "collision_valid :",
+            self.collision_valid,
+            "process_valid :",
+            self.process_valid,
+        )
+        if self.success_mode == "zero":
+            return np.abs(curr_joint_p) <= self.success_threshold and self.collision_valid and self.process_valid
+        elif self.success_mode == "dis_to_init":
+            return (
+                np.abs(curr_joint_p - init_joint_p) >= np.abs(self.success_threshold)
+                and self.collision_valid
+                and self.process_valid
+            )

workflows/simbox/tools/art/close_h/9748/usd/Kps/close_h/info.json

@@ -0,0 +1,30 @@
+{
+    "object_keypoints": {
+        "articulated_object_head": [
+            0.010352182027793727,
+            0.3195539569073875,
+            -0.40455378073803727
+        ],
+        "articulated_object_tail": [
+            0.0021223609273771232,
+            -0.08088176555195549,
+            -0.17336222586437672
+        ]
+    },
+    "object_scale": [
+        0.19898010693896356,
+        0.19898010693896356,
+        0.19898010693896356,
+        1.0
+    ],
+    "object_name": "microwave9748",
+    "object_usd": "YOUR_PATH_TO_9748/usd/instance.usd",
+    "object_link0_rot_axis": "x",
+    "object_link0_contact_axis": "-x",
+    "object_base_front_axis": "z",
+    "joint_index": 0,
+    "object_prim_path": "/microwave9748",
+    "object_link_path": "/microwave9748/instance/group_1",
+    "object_base_path": "/microwave9748/instance/group_0",
+    "object_revolute_joint_path": "/microwave9748/instance/group_1/RevoluteJoint"
+}

workflows/simbox/tools/art/close_h/9748/usd/Kps/close_h/keypoints.json

@@ -0,0 +1,14 @@
+{
+    "keypoints": {
+        "red": [
+            -7.819418250384902e-06,
+            0.2650548085050067,
+            -0.37308869869926864
+        ],
+        "yellow": [
+            -0.000354436298873273,
+            -0.08868132026315294,
+            -0.16885915313667568
+        ]
+    }
+}

workflows/simbox/tools/art/close_h/9748/usd/Kps/close_h/keypoints_final.json

@@ -0,0 +1,20 @@
+{
+    "keypoints": {
+        "red": [
+            0.010352182027793727,
+            0.3195539569073875,
+            -0.40455378073803727
+        ],
+        "yellow": [
+            0.0021223609273771232,
+            -0.08088176555195549,
+            -0.17336222586437672
+        ]
+    },
+    "scale": [
+        0.19898010693896356,
+        0.19898010693896356,
+        0.19898010693896356,
+        1.0
+    ]
+}

workflows/simbox/tools/art/close_h/9748/usd/keypoints_config.json

@@ -0,0 +1,13 @@
+{
+    "DIR": "YOUR_PATH_TO_9748/usd",
+    "USD_NAME": "9748.usd",
+    "INSTANCE_NAME": "laptop9748",
+    "link0_initial_prim_path": "/root/group_1",
+    "base_initial_prim_path": "/root/group_0",
+    "revolute_joint_initial_prim_path": "/root/group_1/RevoluteJoint",
+    "joint_index": 0,
+    "LINK0_ROT_AXIS": "x",
+    "BASE_FRONT_AXIS": "z",
+    "LINK0_CONTACT_AXIS": "-x",
+    "SCALED_VOLUME": 0.01
+}

workflows/simbox/tools/art/close_h/readme.md

@@ -0,0 +1,45 @@
+# Annotation Documentation
+
+We provide an optimized and simplified annotation pipeline that removes many redundancies. No need to rename base_link, contact_link, etc. Keep the original hierarchy and naming as much as possible.
+
+## 🗂️ File Information
+
+| 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 |
+
+## 🔧 Model Structure Configuration
+
+| Component | Example | Description |
+|-----------|---------|-------------|
+| **link0_initial_prim_path** | `/root/group_1` | Absolute path in Isaac Sim for the "door" that interacts with the gripper. Check in the original USD |
+| **base_initial_prim_path** | `/root/group_0` | Absolute path in Isaac Sim for the microwave base. Check in the original USD |
+| **revolute_joint_initial_prim_path** | `/root/group_1/RevoluteJoint` | Absolute path in Isaac Sim for the revolute joint that opens/closes the microwave. Check in the original USD |
+| **Joint Index** | `0` | Joint number, default is 0 |
+
+## 🧭 Axis Configuration
+
+| 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) |
+
+## 📏 Physical Parameters
+
+| Parameter | Example | Description |
+|-----------|---------|-------------|
+| **SCALED_VOLUME** | `0.01` | Default value 0.01 for laptop objects |
+
+---
+
+# Point Annotation
+
+| 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) |
+
+---

workflows/simbox/tools/art/close_h/tool/keypoints_pipeline.sh

@@ -0,0 +1,21 @@
+# pylint: skip-file
+# flake8: noqa
+# Replace the following keypoints_config path with your absolute path
+CONFIG_PATH="YOUR_PATH_TO_9748/usd/keypoints_config.json"
+
+# Replace the following close_h_new path with your absolute path
+cd workflows/simbox/tools/art/close_h/tool
+
+# Run the following scripts in sequence
+
+# 1. rehier - This should generate peixun/7265/usd/instance.usd file to indicate success
+python rehier.py --config $CONFIG_PATH
+
+# 2. select points
+python select_keypoint.py --config $CONFIG_PATH
+
+# 3. Transfer keypoints
+python transfer_keypoints.py --config $CONFIG_PATH
+
+# 4. Overwrite keypoints
+python overwrite_keypoints.py --config $CONFIG_PATH

workflows/simbox/tools/art/close_h/tool/overwrite_keypoints.py

@@ -0,0 +1,57 @@
+# pylint: skip-file
+# flake8: noqa
+import os
+import json
+import numpy as np
+
+import argparse
+
+parser = argparse.ArgumentParser()
+parser.add_argument("--config", type=str, help="Path to config file")
+args = parser.parse_args()
+
+with open(args.config, 'r') as f:
+    config = json.load(f)
+
+TASK = "close_h"
+dir_name = config["DIR"]
+dir_name_kps = os.path.join(config['DIR'], "Kps", TASK)
+os.makedirs(dir_name_kps, exist_ok=True)
+
+usd_file = os.path.join(dir_name, "instance.usd")
+keypoint_path = os.path.join(dir_name_kps, "keypoints_final.json")
+target_keypoint_path = os.path.join(dir_name_kps, "info.json")
+
+if not os.path.exists(target_keypoint_path):
+    with open(target_keypoint_path,'w') as file:
+        data={"object_keypoints":{}}
+        json.dump(data,file,indent=4)
+
+if not os.path.exists(keypoint_path) or not os.path.exists(target_keypoint_path):
+    print(f"keypoint file {keypoint_path} or {target_keypoint_path} not found")
+
+kp = json.load(open(keypoint_path))
+tkp = json.load(open(target_keypoint_path))
+
+tkp["object_keypoints"]["articulated_object_head"] = kp["keypoints"]["red"]
+tkp["object_keypoints"]["articulated_object_tail"] = kp["keypoints"]["yellow"]
+
+tkp["object_scale"] = kp["scale"]
+tkp["object_name"] = config["INSTANCE_NAME"]
+tkp["object_usd"] = usd_file
+tkp["object_link0_rot_axis"] = config["LINK0_ROT_AXIS"]
+tkp["object_link0_contact_axis"] = config["LINK0_CONTACT_AXIS"]
+tkp["object_base_front_axis"] = config["BASE_FRONT_AXIS"]
+tkp["joint_index"] = config["joint_index"]
+
+tkp["object_prim_path"] = os.path.join("/", config["INSTANCE_NAME"])
+link0_initial_prim_path = (config["link0_initial_prim_path"]).replace("/root", "instance")
+base_initial_prim_path = (config["base_initial_prim_path"]).replace("/root", "instance")
+revolute_joint_initial_prim_path = (config["revolute_joint_initial_prim_path"]).replace("/root", "instance")
+
+tkp["object_link_path"] = os.path.join("/", config["INSTANCE_NAME"], link0_initial_prim_path)
+tkp["object_base_path"] = os.path.join("/", config["INSTANCE_NAME"], base_initial_prim_path)
+tkp["object_revolute_joint_path"] = os.path.join("/", config["INSTANCE_NAME"], revolute_joint_initial_prim_path)
+
+json.dump(tkp, open(target_keypoint_path, "w"), indent=4)
+print("Saved keypoints to ", target_keypoint_path)

workflows/simbox/tools/art/close_h/tool/rehier.py

@@ -0,0 +1,302 @@
+# pylint: skip-file
+# flake8: noqa
+import os
+import json
+import argparse
+from pathlib import Path
+from pxr import Usd, UsdGeom, UsdPhysics, Gf, Sdf
+from pdb import set_trace
+
+def remove_articulation_root(prim: Usd.Prim):
+    prim.RemoveAPI(UsdPhysics.ArticulationRootAPI)  
+    allchildren = prim.GetAllChildren()
+    if len(allchildren) == 0:
+        return 
+    else:
+        for child in allchildren:
+            remove_articulation_root(child)
+
+def remove_rigidbody(prim: Usd.Prim):
+    prim.RemoveAPI(UsdPhysics.RigidBodyAPI) 
+    allchildren = prim.GetAllChildren()
+    if len(allchildren) == 0:
+        return
+    else:
+        for child in allchildren:
+            remove_rigidbody(child)
+
+def remove_mass(prim: Usd.Prim):
+    prim.RemoveAPI(UsdPhysics.MassAPI)
+    allchildren = prim.GetAllChildren()
+    if len(allchildren) == 0:
+        return
+    else:
+        for child in allchildren:
+            remove_mass(child)
+
+def add_rigidbody(prim: Usd.Prim):
+    UsdPhysics.RigidBodyAPI.Apply(prim)
+
+def add_mass(prim: Usd.Prim):
+    UsdPhysics.MassAPI.Apply(prim)
+    mass = prim.GetAttribute("physics:mass")
+    mass.Clear()
+
+def get_args():
+    parser = argparse.ArgumentParser(description="USD Hierarchy and Physics Editor")
+    parser.add_argument("--config", type=str, required=True, help="Path to config file")
+
+    return parser.parse_args()
+
+def load_config(config_path):
+    with open(config_path, 'r') as f:
+        return json.load(f)
+
+def safe_rename_prim(stage, old_path, new_path):
+    editor = Usd.NamespaceEditor(stage)
+    old_p = stage.GetPrimAtPath(old_path)
+    editor.RenamePrim(old_p, new_path.split('/')[-1])
+
+    if editor.CanApplyEdits():
+        editor.ApplyEdits()
+        return True
+    else:
+        return False
+
+def modify_hierarchy(stage, config):
+    editor = Usd.NamespaceEditor(stage)
+
+    """ Modify USD hierarchy structure """
+    base_path = config["base_initial_prim_path"]
+    link0_path = config["link0_initial_prim_path"]
+    revolute_joint_path = config["revolute_joint_initial_prim_path"]
+
+    # Get original root node
+    old_root_path = f"/{link0_path.split('/')[1]}"
+    instance_path = "/root/instance"
+    safe_rename_prim(stage, '/{}'.format(stage.GetDefaultPrim().GetName()), "/instance")
+
+    return instance_path
+
+def modify_physics(stage, instance_root_path, config):
+    """ Modify physics properties and ensure colliders are uniformly set to Convex Hull """
+    print(f"Applying physics modifications and setting colliders to ConvexHull...")
+
+    # Traverse all nodes for processing
+    for prim in stage.Traverse():
+        # 1. Clear instancing (if editing physics properties of individual instances)
+        if prim.IsInstanceable():
+            prim.ClearInstanceable()
+
+        # 2. Process Mesh colliders
+        if prim.IsA(UsdGeom.Mesh):
+            # Ensure base collision API is applied
+            if not prim.HasAPI(UsdPhysics.CollisionAPI):
+                UsdPhysics.CollisionAPI.Apply(prim)
+
+            # Force apply MeshCollisionAPI to set collision approximation
+            mesh_collision_api = UsdPhysics.MeshCollisionAPI.Get(stage, prim.GetPath())
+            if not mesh_collision_api:
+                mesh_collision_api = UsdPhysics.MeshCollisionAPI.Apply(prim)
+
+            # Set collision approximation to 'convexHull'
+            # Optional values include: 'none', 'convexHull', 'convexDecomposition', 'meshSimplification', etc.
+            mesh_collision_api.CreateApproximationAttr().Set("convexHull")
+
+            # Ensure physics collision is enabled
+            col_enabled_attr = prim.GetAttribute("physics:collisionEnabled")
+            if not col_enabled_attr.HasValue():
+                col_enabled_attr.Set(True)
+
+def create_fixed_joint(stage, joint_path, body0_path, body1_path):
+    """
+    Create a FixedJoint at the specified path and connect two rigid bodies.
+    """
+    # 1. Define FixedJoint node
+    fixed_joint = UsdPhysics.FixedJoint.Define(stage, joint_path)
+
+    # 2. Set Body0 and Body1 path references
+    # Note: Paths must be of Sdf.Path type
+    fixed_joint.GetBody0Rel().SetTargets([Sdf.Path(body0_path)])
+    fixed_joint.GetBody1Rel().SetTargets([Sdf.Path(body1_path)])
+
+    # 3. (Optional) Set local offset (Local Pose)
+    # If not set, the joint defaults to the origin of both objects
+    # fixed_joint.GetLocalPos0Attr().Set(Gf.Vec3f(0, 0, 0))
+    # fixed_joint.GetLocalRot0Attr().Set(Gf.Quatf(1, 0, 0, 0))
+
+    print(f"Successfully created FixedJoint: {joint_path}")
+    print(f"  Connected: {body0_path} <---> {body1_path}")
+    return fixed_joint
+
+def process_joints(stage, revolute_joint_initial_prim_path):
+    # 1. Collect paths to process
+    paths_to_delete = []
+    joints_to_convert = []
+
+    # Use TraverseAll to ensure no defined nodes are missed
+    for prim in stage.Traverse():
+        # Check if it is a physics joint
+        if prim.IsA(UsdPhysics.Joint):
+            path = prim.GetPath()
+
+            # Logic A: If FixedJoint -> delete
+            if prim.IsA(UsdPhysics.FixedJoint):
+                paths_to_delete.append(path)
+
+            # Logic B: If not FixedJoint and path does not contain 'contact_link' -> convert to FixedJoint
+            # elif "contact_link" not in str(path).lower():
+            #     joints_to_convert.append(path)
+            elif str(path) != revolute_joint_initial_prim_path:
+                joints_to_convert.append(path)
+
+            print(str(path))
+
+    # 2. Get current edit layer
+    layer = stage.GetEditTarget().GetLayer()
+    edit = Sdf.BatchNamespaceEdit()
+
+    # Execute deletion logic
+    for path in paths_to_delete:
+        edit.Add(path, Sdf.Path.emptyPath)
+        print(f"[Delete] FixedJoint: {path}")
+
+    # 3. Apply deletion edits
+    if paths_to_delete:
+        layer.Apply(edit)
+
+    # 4. Execute type conversion logic
+    # In USD, changing type usually means re-Defining the new type at that path
+    for path in joints_to_convert:
+        # Record original Body0 and Body1 relationships to prevent loss after conversion
+        prim = stage.GetPrimAtPath(path)
+        joint = UsdPhysics.Joint(prim)
+        body0 = joint.GetBody0Rel().GetTargets()
+        body1 = joint.GetBody1Rel().GetTargets()
+
+        # Redefine as FixedJoint
+        new_fixed_joint = UsdPhysics.FixedJoint.Define(stage, path)
+
+        # Restore relationships
+        if body0: new_fixed_joint.GetBody0Rel().SetTargets(body0)
+        if body1: new_fixed_joint.GetBody1Rel().SetTargets(body1)
+
+        safe_rename_prim(stage, str(new_fixed_joint.GetPath()),  "/FixedJoint")
+
+        print(f"[Convert] Regular joint -> FixedJoint: {path}")
+
+    return stage
+
+def final_refine(stage, output_usd_path, revolute_joint_initial_prim_path):
+    root_prim = stage.GetPrimAtPath("/root")
+    instance_prim = stage.GetPrimAtPath("/root/instance")  
+    ### remove articulation root ###
+    remove_articulation_root(root_prim)
+
+    ### remove rigid body ###   
+    remove_rigidbody(root_prim) 
+
+    ### remove mass ###
+    # remove_mass(root_prim)
+
+    ### add rigid body and mass ###
+    for child in instance_prim.GetAllChildren():   
+        
+        if child.GetTypeName() == "PhysicsRevoluteJoint" or child.GetTypeName() == "PhysicsPrismaticJoint":
+            continue
+
+        if child.GetTypeName() == "Xform" :
+            print('name:', child.GetTypeName())
+            add_rigidbody(child)
+
+    stage = process_joints(stage, revolute_joint_initial_prim_path)
+
+    ### add articulation root ###
+    UsdPhysics.ArticulationRootAPI.Apply(instance_prim)
+    stage.SetDefaultPrim(root_prim)
+    
+    for child in instance_prim.GetAllChildren():
+        try:
+            attr = child.GetAttribute('physics:jointEnabled')
+        except:
+            continue
+        if attr.Get() is not None:
+            print(child)
+            attr.Set(True)
+
+    modify_physics(stage, "/root/instance", 11)
+    stage.Export(output_usd_path)
+
+    return stage
+
+def import_as_copy(source_usd_path, output_usd_path, root_name="root", sub_node_name="instance"):
+    """
+    Create a new USD and copy the content from source_usd_path to /root/sub_node_name.
+    """
+    # 1. Create target Stage and root node
+    stage = Usd.Stage.CreateNew(output_usd_path)
+    root_path = Sdf.Path(f"/{root_name}")
+    UsdGeom.Xform.Define(stage, root_path)
+
+    # 2. Define copy destination path (e.g., /root/model_copy)
+    dest_path = root_path.AppendChild(sub_node_name)
+
+    # 3. Open source file layer
+    source_layer = Sdf.Layer.FindOrOpen(source_usd_path)
+
+    if not source_layer:
+        print(f"Error: Cannot find source file {source_usd_path}")
+        return
+
+    # 4. Get source file's default prim (DefaultPrim) as copy target
+    # If source file has no default prim, use the first root prim
+    source_root_name = list(source_layer.rootPrims)[0].name
+    source_path = Sdf.Path(f"/{source_root_name}")
+
+    # 5. Execute core copy operation (Sdf.CopySpec)
+    # This copies all attributes, topology, and properties from source file to new file
+    Sdf.CopySpec(source_layer, source_path, stage.GetRootLayer(), dest_path)
+
+    # 6. Set default prim and save
+    stage.SetDefaultPrim(stage.GetPrimAtPath(root_path))
+    stage.GetRootLayer().Save()
+    print(f"Success! Content copied to: {output_usd_path}")
+
+    return stage, output_usd_path
+
+def main():
+    args = get_args()
+    config = load_config(args.config)
+
+    dir_name = config["DIR"]
+    usd_path = os.path.join(dir_name, config["USD_NAME"])
+    output_path = os.path.join(dir_name, "instance.usd")
+    revolute_joint_initial_prim_path = (config["revolute_joint_initial_prim_path"]).replace("root", "root/instance")
+
+    # --- Key improvement: Open Stage using Flatten ---
+    # This writes all reference data directly into the main layer, preventing reference loss after path changes
+    base_stage = Usd.Stage.Open(usd_path)
+
+    stage = Usd.Stage.CreateInMemory()
+    stage.GetRootLayer().TransferContent(base_stage.Flatten())
+
+    # 1. Modify hierarchy
+    instance_path = modify_hierarchy(stage, config)
+
+    # 3. Export
+    print(f"Exporting to: {output_path}")
+    stage.GetRootLayer().Export(output_path)
+    
+    stage, output_usd_path = import_as_copy(output_path, output_path.replace('.usd', '_refiened.usd'))
+    stage = final_refine(stage, output_usd_path.replace('.usd', '_final.usd'), revolute_joint_initial_prim_path)
+
+    stage.Export(output_path)
+
+    os.remove(output_path.replace('.usd', '_refiened.usd'))
+    os.remove(output_usd_path.replace('.usd', '_final.usd'))
+
+    print("Done.")
+
+
+if __name__ == "__main__":
+    main()

workflows/simbox/tools/art/close_h/tool/select_keypoint.py

@@ -0,0 +1,202 @@
+# pylint: skip-file
+# flake8: noqa
+import os
+import argparse
+import numpy as np
+import open3d as o3d
+import json
+from pxr import Usd, UsdGeom
+
+def mkdir_if_missing(dst_dir):
+    if not os.path.exists(dst_dir):
+        os.makedirs(dst_dir)
+
+colors = [
+    [1, 0, 0],
+    [0, 1, 0],
+    [0, 0, 1],
+    [0.5, 0, 0],
+    [0, 0.5, 0],
+    [0, 0, 0.5],
+]  # red, green, blue
+
+parser = argparse.ArgumentParser()
+parser.add_argument("--config", type=str, help="Path to config file")
+args = parser.parse_args()
+
+# Load configuration
+with open(args.config, 'r') as f:
+    config = json.load(f)
+
+# Use configuration
+TASK = "close_h"
+dir_name = config['DIR']
+
+dir_name_kps = os.path.join(config['DIR'], "Kps", TASK)
+os.makedirs(dir_name_kps, exist_ok=True)
+usd_file = os.path.join(dir_name, "instance.usd")
+keypoint_path = os.path.join(dir_name_kps, "keypoints.json")
+target_keypoint_path = os.path.join(dir_name_kps, "keypoints_final.json")
+
+def scale_pcd_to_unit(pcd):
+    # Get all points in the point cloud
+    points = np.asarray(pcd.points)
+
+    # Find min and max values
+    min_bound = points.min(axis=0)
+    max_bound = points.max(axis=0)
+
+    # Center and range
+    center = (min_bound + max_bound) / 2.0
+    scale = (max_bound - min_bound).max() / 2.0  # Scale using the longest edge
+
+    # Scale point cloud to [-1, 1]
+    scaled_points = (points - center) / scale
+    pcd.points = o3d.utility.Vector3dVector(scaled_points)
+
+    return pcd
+
+def get_full_transformation(prim):
+    """
+    Get the full transformation matrix of the object relative to the world coordinate system,
+    including transformations from all ancestor objects.
+    """
+    transform_matrix = np.identity(4)  # Initialize as identity matrix
+
+    # Starting from the object, apply transformations from all ancestors level by level
+    current_prim = prim
+    while current_prim:
+        # Get the transformation matrix of the current object
+        xform = UsdGeom.Xform(current_prim)
+        local_transform = xform.GetLocalTransformation()
+
+        # Apply the current object's transformation to the accumulated transformation
+        transform_matrix = np.dot(local_transform.GetTranspose(), transform_matrix)
+
+        # Move to parent object
+        current_prim = current_prim.GetParent()
+
+    return transform_matrix
+
+def convert_to_world_coordinates(prim, local_vertices):
+    """
+    Convert local coordinates to world coordinates.
+    """
+    # Get transformation matrix relative to world coordinate system
+    transform_matrix = get_full_transformation(prim)
+
+    # Convert local vertices to world coordinate system
+    world_vertices = []
+    for vertex in local_vertices:
+        # Convert to homogeneous coordinates
+        local_point = np.append(vertex, 1)  # [x, y, z, 1]
+
+        # Convert to world coordinate system
+        world_point = np.dot(transform_matrix, local_point)[:3]  # Take only first 3 coordinates
+        world_vertices.append(world_point)
+
+    return np.array(world_vertices)
+
+def extract_all_geometry_from_usd(usd_file):
+    # Load USD file
+    stage = Usd.Stage.Open(usd_file)
+
+    # Store geometric information for all objects
+    all_meshes = []
+
+    # Traverse all Prims
+    for prim in stage.Traverse():
+        if prim.IsA(UsdGeom.Mesh):
+            # Extract Mesh
+            mesh = UsdGeom.Mesh(prim)
+
+            # Get vertices
+            points = mesh.GetPointsAttr().Get()  # List of vertices
+            vertices = np.array([[p[0], p[1], p[2]] for p in points])
+
+            # If conversion to world coordinate system is needed, call conversion function
+            vertices = convert_to_world_coordinates(prim, vertices)
+
+            # Get face vertex indices
+            face_indices = mesh.GetFaceVertexIndicesAttr().Get()  # Indices of all face vertices
+            face_vertex_counts = mesh.GetFaceVertexCountsAttr().Get()  # Number of vertices per face
+
+            # Split indices and triangulate
+            faces = []
+            index = 0
+            for count in face_vertex_counts:
+                face = face_indices[index:index + count]
+                index += count
+                if len(face) == 3:
+                    faces.append(face)  # Already a triangle
+                elif len(face) > 3:
+                    for i in range(1, len(face) - 1):
+                        faces.append([face[0], face[i], face[i + 1]])
+
+            faces = np.array(faces)
+
+            # Get normals (if available)
+            if mesh.GetNormalsAttr().IsAuthored() and mesh.GetNormalsAttr().Get() is not None:
+                normals = mesh.GetNormalsAttr().Get()
+                normals = np.array([[n[0], n[1], n[2]] for n in normals])
+            else:
+                normals = None
+
+            # Store geometric information for current object
+            all_meshes.append((vertices, faces, normals))
+
+    # If no geometry is found, raise exception
+    if not all_meshes:
+        raise ValueError("No geometry found in USD file.")
+
+    return all_meshes
+
+def visualize_geometries(meshes):
+    # Build Open3D Mesh and visualize
+    all_meshes = o3d.geometry.TriangleMesh()
+    for idx , (vertice, face, _) in enumerate(meshes):  # Ignore normals
+        mesh = o3d.geometry.TriangleMesh()
+        mesh.vertices = o3d.utility.Vector3dVector(vertice)
+        mesh.triangles = o3d.utility.Vector3iVector(face)
+        mesh.paint_uniform_color(np.random.random(size=3))
+        all_meshes+=mesh
+
+    pcd = all_meshes.sample_points_uniformly(number_of_points=10000000)
+    return pcd
+
+
+# Extract geometric information
+all_meshes = extract_all_geometry_from_usd(usd_file)
+o3d.utility.set_verbosity_level(o3d.utility.VerbosityLevel.Debug)
+viewer = o3d.visualization.VisualizerWithEditing()
+viewer.create_window()
+
+# Visualize
+pcd=visualize_geometries(all_meshes)
+viewer.add_geometry(pcd)
+opt = viewer.get_render_option()
+opt.show_coordinate_frame = True
+
+viewer.run()
+viewer.destroy_window()
+
+print("saving picked points")
+picked_points = viewer.get_picked_points()
+
+if len(picked_points) == 0:
+    print("No points were picked")
+    exit()
+
+xyz = np.asarray(pcd.points)
+print(picked_points)
+picked_points = xyz[picked_points]
+print(picked_points)
+color_lists = ["red", "yellow", "blue", "green", "magenta", "purple", "orange"]
+
+keypoint_description_file = os.path.join(dir_name_kps, "keypoints.json")
+keypoint_info = {
+    "keypoints": {c: p.tolist() for c, p in zip(color_lists, picked_points)},
+}
+with open(keypoint_description_file, "w") as f:
+    json.dump(keypoint_info, f, indent=4, sort_keys=True)
+print("keypoint_info saved to", keypoint_description_file)

workflows/simbox/tools/art/close_h/tool/transfer_keypoints.py

@@ -0,0 +1,82 @@
+# pylint: skip-file
+# flake8: noqa
+import os
+import sys
+
+current_path = os.getcwd()
+sys.path.append(f"{current_path}")
+
+import numpy as np
+import argparse
+import json
+
+from isaacsim import SimulationApp
+simulation_app = SimulationApp({"headless": True})
+from omni.isaac.core.utils.prims import get_prim_at_path
+from omni.isaac.core.utils.transformations import get_relative_transform
+from omni.isaac.core.utils.stage import add_reference_to_stage
+from omni.isaac.core import World
+from omni.isaac.core.articulations.articulation import Articulation
+
+
+if __name__ == "__main__":
+    parser = argparse.ArgumentParser()
+    parser.add_argument("--config", type=str, help="Path to config file")
+    args = parser.parse_args()
+
+    # Load configuration
+    with open(args.config, 'r') as f:
+        config = json.load(f)
+
+    # Use configuration
+    dir_name = config['DIR']
+    instance_prim_path = os.path.join("/", config["INSTANCE_NAME"])
+    link0_initial_prim_path = (config["link0_initial_prim_path"]).replace("/root", "instance")
+    base_initial_prim_path = (config["base_initial_prim_path"]).replace("/root", "instance")
+
+    TASK = "close_h"
+    dir_name_kps = os.path.join(config['DIR'], "Kps", TASK)
+    os.makedirs(dir_name_kps, exist_ok=True)
+
+    usd_file = os.path.join(dir_name, "instance.usd")
+    keypoint_path = os.path.join(dir_name_kps, "keypoints.json")
+    target_keypoint_path = os.path.join(dir_name_kps, "keypoints_final.json")
+
+    if not os.path.exists(keypoint_path):
+        print(f"keypoint file {keypoint_path} not found")
+
+    my_world = World()
+    reference = add_reference_to_stage(usd_path=usd_file, prim_path=instance_prim_path)
+    prim_path = str(reference.GetPrimPath()) 
+    prim = Articulation(
+        prim_path,
+        name=config['INSTANCE_NAME']
+    )
+    my_world.scene.add(prim)
+    instance2link_pose = get_relative_transform(get_prim_at_path(instance_prim_path),get_prim_at_path(os.path.join(instance_prim_path, link0_initial_prim_path)))
+    instance2base_pose = get_relative_transform(get_prim_at_path(instance_prim_path),get_prim_at_path(os.path.join(instance_prim_path, base_initial_prim_path)))
+    kploc2base = json.load(open(keypoint_path))["keypoints"]
+    kplocs = {}
+    for name, kploc in kploc2base.items():
+        if name == "red" or name == "yellow":
+            kploc = np.append(kploc,1)
+            kplocs[name] = (instance2link_pose @ kploc).tolist()[:3]
+        elif name == "blue":
+            kploc = np.append(kploc,1)
+            kplocs[name] = (instance2base_pose @ kploc).tolist()[:3]
+        else:
+            kplocs[name] = kploc
+
+    # compute scale
+    my_world.scene.enable_bounding_boxes_computations()
+    bbox = my_world.scene.compute_object_AABB(config['INSTANCE_NAME'])
+    volume = (bbox[1][0]-bbox[0][0])*(bbox[1][1]-bbox[0][1])*(bbox[1][2]-bbox[0][2])
+    scaled_volume=config['SCALED_VOLUME']
+    scale = (scaled_volume / volume) **(1/3)
+
+    data = {
+        "keypoints": kplocs,
+        "scale" : [scale,scale,scale,1.0]
+    }
+    json.dump(data, open(target_keypoint_path, "w"), indent=4)
+    print("Saved keypoints to ", target_keypoint_path)

workflows/simbox/tools/art/close_h_down/7130/usd/Kps/close_h_down/info.json

@@ -0,0 +1,30 @@
+{
+    "object_keypoints": {
+        "articulated_object_head": [
+            -0.018498502245147763,
+            -0.1530302670588388,
+            0.6257089972496033
+        ],
+        "articulated_object_tail": [
+            -0.42819953949226636,
+            -0.1526598858392625,
+            0.6257089972496033
+        ]
+    },
+    "object_scale": [
+        0.21906105089025496,
+        0.21906105089025496,
+        0.21906105089025496,
+        1.0
+    ],
+    "object_name": "laptop7130",
+    "object_usd": "/home/shixu/dev_shixu/InternDataEngine/workflows/simbox/tools/art/close_h_down/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"
+}

workflows/simbox/tools/art/close_h_down/7130/usd/Kps/close_h_down/keypoints.json

@@ -0,0 +1,14 @@
+{
+    "keypoints": {
+        "red": [
+            -0.018498502245147763,
+            -0.1530302670588388,
+            0.6257089972496033
+        ],
+        "yellow": [
+            -0.42819953949226636,
+            -0.1526598858392625,
+            0.6257089972496033
+        ]
+    }
+}

workflows/simbox/tools/art/close_h_down/7130/usd/Kps/close_h_down/keypoints_final.json

@@ -0,0 +1,20 @@
+{
+    "keypoints": {
+        "red": [
+            -0.018498502245147763,
+            -0.1530302670588388,
+            0.6257089972496033
+        ],
+        "yellow": [
+            -0.42819953949226636,
+            -0.1526598858392625,
+            0.6257089972496033
+        ]
+    },
+    "scale": [
+        0.21906105089025496,
+        0.21906105089025496,
+        0.21906105089025496,
+        1.0
+    ]
+}

workflows/simbox/tools/art/close_h_down/7130/usd/keypoints_config.json

@@ -0,0 +1,13 @@
+{
+    "DIR": "/home/shixu/dev_shixu/InternDataEngine/workflows/simbox/tools/art/close_h_down/7130/usd",
+    "USD_NAME": "7130.usd",
+    "INSTANCE_NAME": "laptop7130",
+    "link0_initial_prim_path": "/root/group_1",
+    "base_initial_prim_path": "/root/group_0",
+    "revolute_joint_initial_prim_path": "/root/group_1/RevoluteJoint",
+    "joint_index": 0,
+    "LINK0_ROT_AXIS": "-x",
+    "BASE_FRONT_AXIS": "z",
+    "LINK0_CONTACT_AXIS": "-y",
+    "SCALED_VOLUME": 0.02
+}

workflows/simbox/tools/art/close_h_down/readme.md

@@ -0,0 +1,45 @@
+# Annotation Documentation
+
+We provide an optimized and simplified annotation pipeline that removes many redundancies. No need to rename base_link, contact_link, etc. Keep the original hierarchy and naming as much as possible.
+
+## 🗂️ File Information
+
+| 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 |
+
+## 🔧 Model Structure Configuration
+
+| Component | Example | Description |
+|-----------|---------|-------------|
+| **link0_initial_prim_path** | `/root/group_1` | Absolute path in Isaac Sim for the "door" that interacts with the gripper. Check in the original USD |
+| **base_initial_prim_path** | `/root/group_0` | Absolute path in Isaac Sim for the microwave base. Check in the original USD |
+| **revolute_joint_initial_prim_path** | `/root/group_1/RevoluteJoint` | Absolute path in Isaac Sim for the revolute joint that opens/closes the microwave. Check in the original USD |
+| **Joint Index** | `0` | Joint number, default is 0 |
+
+## 🧭 Axis Configuration
+
+| 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) |
+
+## 📏 Physical Parameters
+
+| Parameter | Example | Description |
+|-----------|---------|-------------|
+| **SCALED_VOLUME** | `0.01` | Default value 0.01 for laptop objects |
+
+---
+
+# Point Annotation
+
+| 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) |
+
+---

workflows/simbox/tools/art/close_h_down/tool/keypoints_pipeline.sh

@@ -0,0 +1,21 @@
+# pylint: skip-file
+# flake8: noqa
+# Replace the following keypoints_config path with your absolute path
+CONFIG_PATH="YOUR_PATH_TO_9748/usd/keypoints_config.json"
+
+# Replace the following close_h_down path with your absolute path
+cd workflows/simbox/tools/art/close_h_down/tool
+
+# Run the following scripts in sequence
+
+# 1. rehier
+python rehier.py --config $CONFIG_PATH
+
+# 2. select points
+python select_keypoint.py --config $CONFIG_PATH
+
+# 3. Transfer keypoints
+python transfer_keypoints.py --config $CONFIG_PATH
+
+# 4. Overwrite keypoints
+python overwrite_keypoints.py --config $CONFIG_PATH

workflows/simbox/tools/art/close_h_down/tool/overwrite_keypoints.py

@@ -0,0 +1,57 @@
+# pylint: skip-file
+# flake8: noqa
+import os
+import json
+import numpy as np
+
+import argparse
+
+parser = argparse.ArgumentParser()
+parser.add_argument("--config", type=str, help="Path to config file")
+args = parser.parse_args()
+
+with open(args.config, 'r') as f:
+    config = json.load(f)
+
+TASK = "close_h_down"
+dir_name = config["DIR"]
+dir_name_kps = os.path.join(config['DIR'], "Kps", TASK)
+os.makedirs(dir_name_kps, exist_ok=True)
+
+usd_file = os.path.join(dir_name, "instance.usd")
+keypoint_path = os.path.join(dir_name_kps, "keypoints_final.json")
+target_keypoint_path = os.path.join(dir_name_kps, "info.json")
+
+if not os.path.exists(target_keypoint_path):
+    with open(target_keypoint_path,'w') as file:
+        data={"object_keypoints":{}}
+        json.dump(data,file,indent=4)
+
+if not os.path.exists(keypoint_path) or not os.path.exists(target_keypoint_path):
+    print(f"keypoint file {keypoint_path} or {target_keypoint_path} not found")
+
+kp = json.load(open(keypoint_path))
+tkp = json.load(open(target_keypoint_path))
+
+tkp["object_keypoints"]["articulated_object_head"] = kp["keypoints"]["red"]
+tkp["object_keypoints"]["articulated_object_tail"] = kp["keypoints"]["yellow"]
+
+tkp["object_scale"] = kp["scale"]
+tkp["object_name"] = config["INSTANCE_NAME"]
+tkp["object_usd"] = usd_file
+tkp["object_link0_rot_axis"] = config["LINK0_ROT_AXIS"]
+tkp["object_link0_contact_axis"] = config["LINK0_CONTACT_AXIS"]
+tkp["object_base_front_axis"] = config["BASE_FRONT_AXIS"]
+tkp["joint_index"] = config["joint_index"]
+
+tkp["object_prim_path"] = os.path.join("/", config["INSTANCE_NAME"])
+link0_initial_prim_path = (config["link0_initial_prim_path"]).replace("/root", "instance")
+base_initial_prim_path = (config["base_initial_prim_path"]).replace("/root", "instance")
+revolute_joint_initial_prim_path = (config["revolute_joint_initial_prim_path"]).replace("/root", "instance")
+
+tkp["object_link_path"] = os.path.join("/", config["INSTANCE_NAME"], link0_initial_prim_path)
+tkp["object_base_path"] = os.path.join("/", config["INSTANCE_NAME"], base_initial_prim_path)
+tkp["object_revolute_joint_path"] = os.path.join("/", config["INSTANCE_NAME"], revolute_joint_initial_prim_path)
+
+json.dump(tkp, open(target_keypoint_path, "w"), indent=4)
+print("Saved keypoints to ", target_keypoint_path)

workflows/simbox/tools/art/close_h_down/tool/rehier.py

@@ -0,0 +1,302 @@
+# pylint: skip-file
+# flake8: noqa
+import os
+import json
+import argparse
+from pathlib import Path
+from pxr import Usd, UsdGeom, UsdPhysics, Gf, Sdf
+from pdb import set_trace
+
+def remove_articulation_root(prim: Usd.Prim):
+    prim.RemoveAPI(UsdPhysics.ArticulationRootAPI)  
+    allchildren = prim.GetAllChildren()
+    if len(allchildren) == 0:
+        return 
+    else:
+        for child in allchildren:
+            remove_articulation_root(child)
+
+def remove_rigidbody(prim: Usd.Prim):
+    prim.RemoveAPI(UsdPhysics.RigidBodyAPI) 
+    allchildren = prim.GetAllChildren()
+    if len(allchildren) == 0:
+        return
+    else:
+        for child in allchildren:
+            remove_rigidbody(child)
+
+def remove_mass(prim: Usd.Prim):
+    prim.RemoveAPI(UsdPhysics.MassAPI)
+    allchildren = prim.GetAllChildren()
+    if len(allchildren) == 0:
+        return
+    else:
+        for child in allchildren:
+            remove_mass(child)
+
+def add_rigidbody(prim: Usd.Prim):
+    UsdPhysics.RigidBodyAPI.Apply(prim)
+
+def add_mass(prim: Usd.Prim):
+    UsdPhysics.MassAPI.Apply(prim)
+    mass = prim.GetAttribute("physics:mass")
+    mass.Clear()
+
+def get_args():
+    parser = argparse.ArgumentParser(description="USD Hierarchy and Physics Editor")
+    parser.add_argument("--config", type=str, required=True, help="Path to config file")
+
+    return parser.parse_args()
+
+def load_config(config_path):
+    with open(config_path, 'r') as f:
+        return json.load(f)
+
+def safe_rename_prim(stage, old_path, new_path):
+    editor = Usd.NamespaceEditor(stage)
+    old_p = stage.GetPrimAtPath(old_path)
+    editor.RenamePrim(old_p, new_path.split('/')[-1])
+
+    if editor.CanApplyEdits():
+        editor.ApplyEdits()
+        return True
+    else:
+        return False
+
+def modify_hierarchy(stage, config):
+    editor = Usd.NamespaceEditor(stage)
+
+    """ Modify USD hierarchy structure """
+    base_path = config["base_initial_prim_path"]
+    link0_path = config["link0_initial_prim_path"]
+    revolute_joint_path = config["revolute_joint_initial_prim_path"]
+
+    # Get original root node
+    old_root_path = f"/{link0_path.split('/')[1]}"
+    instance_path = "/root/instance"
+    safe_rename_prim(stage, '/{}'.format(stage.GetDefaultPrim().GetName()), "/instance")
+
+    return instance_path
+
+def modify_physics(stage, instance_root_path, config):
+    """ Modify physics properties and ensure colliders are uniformly set to Convex Hull """
+    print(f"Applying physics modifications and setting colliders to ConvexHull...")
+
+    # Traverse all nodes for processing
+    for prim in stage.Traverse():
+        # 1. Clear instancing (if editing physics properties of individual instances)
+        if prim.IsInstanceable():
+            prim.ClearInstanceable()
+
+        # 2. Process Mesh colliders
+        if prim.IsA(UsdGeom.Mesh):
+            # Ensure base collision API is applied
+            if not prim.HasAPI(UsdPhysics.CollisionAPI):
+                UsdPhysics.CollisionAPI.Apply(prim)
+
+            # Force apply MeshCollisionAPI to set collision approximation
+            mesh_collision_api = UsdPhysics.MeshCollisionAPI.Get(stage, prim.GetPath())
+            if not mesh_collision_api:
+                mesh_collision_api = UsdPhysics.MeshCollisionAPI.Apply(prim)
+
+            # Set collision approximation to 'convexHull'
+            # Optional values include: 'none', 'convexHull', 'convexDecomposition', 'meshSimplification', etc.
+            mesh_collision_api.CreateApproximationAttr().Set("convexHull")
+
+            # Ensure physics collision is enabled
+            col_enabled_attr = prim.GetAttribute("physics:collisionEnabled")
+            if not col_enabled_attr.HasValue():
+                col_enabled_attr.Set(True)
+
+def create_fixed_joint(stage, joint_path, body0_path, body1_path):
+    """
+    Create a FixedJoint at the specified path and connect two rigid bodies.
+    """
+    # 1. Define FixedJoint node
+    fixed_joint = UsdPhysics.FixedJoint.Define(stage, joint_path)
+
+    # 2. Set Body0 and Body1 path references
+    # Note: Paths must be of Sdf.Path type
+    fixed_joint.GetBody0Rel().SetTargets([Sdf.Path(body0_path)])
+    fixed_joint.GetBody1Rel().SetTargets([Sdf.Path(body1_path)])
+
+    # 3. (Optional) Set local offset (Local Pose)
+    # If not set, the joint defaults to the origin of both objects
+    # fixed_joint.GetLocalPos0Attr().Set(Gf.Vec3f(0, 0, 0))
+    # fixed_joint.GetLocalRot0Attr().Set(Gf.Quatf(1, 0, 0, 0))
+
+    print(f"Successfully created FixedJoint: {joint_path}")
+    print(f"  Connected: {body0_path} <---> {body1_path}")
+    return fixed_joint
+
+def process_joints(stage, revolute_joint_initial_prim_path):
+    # 1. Collect paths to process
+    paths_to_delete = []
+    joints_to_convert = []
+
+    # Use TraverseAll to ensure no defined nodes are missed
+    for prim in stage.Traverse():
+        # Check if it is a physics joint
+        if prim.IsA(UsdPhysics.Joint):
+            path = prim.GetPath()
+
+            # Logic A: If FixedJoint -> delete
+            if prim.IsA(UsdPhysics.FixedJoint):
+                paths_to_delete.append(path)
+
+            # Logic B: If not FixedJoint and path does not contain 'contact_link' -> convert to FixedJoint
+            # elif "contact_link" not in str(path).lower():
+            #     joints_to_convert.append(path)
+            elif str(path) != revolute_joint_initial_prim_path:
+                joints_to_convert.append(path)
+
+            print(str(path))
+
+    # 2. Get current edit layer
+    layer = stage.GetEditTarget().GetLayer()
+    edit = Sdf.BatchNamespaceEdit()
+
+    # Execute deletion logic
+    for path in paths_to_delete:
+        edit.Add(path, Sdf.Path.emptyPath)
+        print(f"[Delete] FixedJoint: {path}")
+
+    # 3. Apply deletion edits
+    if paths_to_delete:
+        layer.Apply(edit)
+
+    # 4. Execute type conversion logic
+    # In USD, changing type usually means re-Defining the new type at that path
+    for path in joints_to_convert:
+        # Record original Body0 and Body1 relationships to prevent loss after conversion
+        prim = stage.GetPrimAtPath(path)
+        joint = UsdPhysics.Joint(prim)
+        body0 = joint.GetBody0Rel().GetTargets()
+        body1 = joint.GetBody1Rel().GetTargets()
+
+        # Redefine as FixedJoint
+        new_fixed_joint = UsdPhysics.FixedJoint.Define(stage, path)
+
+        # Restore relationships
+        if body0: new_fixed_joint.GetBody0Rel().SetTargets(body0)
+        if body1: new_fixed_joint.GetBody1Rel().SetTargets(body1)
+
+        safe_rename_prim(stage, str(new_fixed_joint.GetPath()),  "/FixedJoint")
+
+        print(f"[Convert] Regular joint -> FixedJoint: {path}")
+
+    return stage
+
+def final_refine(stage, output_usd_path, revolute_joint_initial_prim_path):
+    root_prim = stage.GetPrimAtPath("/root")
+    instance_prim = stage.GetPrimAtPath("/root/instance")  
+    ### remove articulation root ###
+    remove_articulation_root(root_prim)
+
+    ### remove rigid body ###   
+    remove_rigidbody(root_prim) 
+
+    ### remove mass ###
+    # remove_mass(root_prim)
+
+    ### add rigid body and mass ###
+    for child in instance_prim.GetAllChildren():   
+        
+        if child.GetTypeName() == "PhysicsRevoluteJoint" or child.GetTypeName() == "PhysicsPrismaticJoint":
+            continue
+
+        if child.GetTypeName() == "Xform" :
+            print('name:', child.GetTypeName())
+            add_rigidbody(child)
+
+    stage = process_joints(stage, revolute_joint_initial_prim_path)
+
+    ### add articulation root ###
+    UsdPhysics.ArticulationRootAPI.Apply(instance_prim)
+    stage.SetDefaultPrim(root_prim)
+    
+    for child in instance_prim.GetAllChildren():
+        try:
+            attr = child.GetAttribute('physics:jointEnabled')
+        except:
+            continue
+        if attr.Get() is not None:
+            print(child)
+            attr.Set(True)
+
+    modify_physics(stage, "/root/instance", 11)
+    stage.Export(output_usd_path)
+
+    return stage
+
+def import_as_copy(source_usd_path, output_usd_path, root_name="root", sub_node_name="instance"):
+    """
+    Create a new USD and copy the content from source_usd_path to /root/sub_node_name.
+    """
+    # 1. Create target Stage and root node
+    stage = Usd.Stage.CreateNew(output_usd_path)
+    root_path = Sdf.Path(f"/{root_name}")
+    UsdGeom.Xform.Define(stage, root_path)
+
+    # 2. Define copy destination path (e.g., /root/model_copy)
+    dest_path = root_path.AppendChild(sub_node_name)
+
+    # 3. Open source file layer
+    source_layer = Sdf.Layer.FindOrOpen(source_usd_path)
+
+    if not source_layer:
+        print(f"Error: Cannot find source file {source_usd_path}")
+        return
+
+    # 4. Get source file's default prim (DefaultPrim) as copy target
+    # If source file has no default prim, use the first root prim
+    source_root_name = list(source_layer.rootPrims)[0].name
+    source_path = Sdf.Path(f"/{source_root_name}")
+
+    # 5. Execute core copy operation (Sdf.CopySpec)
+    # This copies all attributes, topology, and properties from source file to new file
+    Sdf.CopySpec(source_layer, source_path, stage.GetRootLayer(), dest_path)
+
+    # 6. Set default prim and save
+    stage.SetDefaultPrim(stage.GetPrimAtPath(root_path))
+    stage.GetRootLayer().Save()
+    print(f"Success! Content copied to: {output_usd_path}")
+
+    return stage, output_usd_path
+
+def main():
+    args = get_args()
+    config = load_config(args.config)
+
+    dir_name = config["DIR"]
+    usd_path = os.path.join(dir_name, config["USD_NAME"])
+    output_path = os.path.join(dir_name, "instance.usd")
+    revolute_joint_initial_prim_path = (config["revolute_joint_initial_prim_path"]).replace("root", "root/instance")
+
+    # --- Key improvement: Open Stage using Flatten ---
+    # This writes all reference data directly into the main layer, preventing reference loss after path changes
+    base_stage = Usd.Stage.Open(usd_path)
+
+    stage = Usd.Stage.CreateInMemory()
+    stage.GetRootLayer().TransferContent(base_stage.Flatten())
+
+    # 1. Modify hierarchy
+    instance_path = modify_hierarchy(stage, config)
+
+    # 3. Export
+    print(f"Exporting to: {output_path}")
+    stage.GetRootLayer().Export(output_path)
+    
+    stage, output_usd_path = import_as_copy(output_path, output_path.replace('.usd', '_refiened.usd'))
+    stage = final_refine(stage, output_usd_path.replace('.usd', '_final.usd'), revolute_joint_initial_prim_path)
+
+    stage.Export(output_path)
+
+    os.remove(output_path.replace('.usd', '_refiened.usd'))
+    os.remove(output_usd_path.replace('.usd', '_final.usd'))
+
+    print("Done.")
+
+
+if __name__ == "__main__":
+    main()

workflows/simbox/tools/art/close_h_down/tool/select_keypoint.py

@@ -0,0 +1,202 @@
+# pylint: skip-file
+# flake8: noqa
+import os
+import argparse
+import numpy as np
+import open3d as o3d
+import json
+from pxr import Usd, UsdGeom
+
+def mkdir_if_missing(dst_dir):
+    if not os.path.exists(dst_dir):
+        os.makedirs(dst_dir)
+
+colors = [
+    [1, 0, 0],
+    [0, 1, 0],
+    [0, 0, 1],
+    [0.5, 0, 0],
+    [0, 0.5, 0],
+    [0, 0, 0.5],
+]  # red, green, blue
+
+parser = argparse.ArgumentParser()
+parser.add_argument("--config", type=str, help="Path to config file")
+args = parser.parse_args()
+
+# Load configuration
+with open(args.config, 'r') as f:
+    config = json.load(f)
+
+# Use configuration
+TASK = "close_h_down"
+dir_name = config['DIR']
+
+dir_name_kps = os.path.join(config['DIR'], "Kps", TASK)
+os.makedirs(dir_name_kps, exist_ok=True)
+usd_file = os.path.join(dir_name, "instance.usd")
+keypoint_path = os.path.join(dir_name_kps, "keypoints.json")
+target_keypoint_path = os.path.join(dir_name_kps, "keypoints_final.json")
+
+def scale_pcd_to_unit(pcd):
+    # Get all points in the point cloud
+    points = np.asarray(pcd.points)
+
+    # Find min and max values
+    min_bound = points.min(axis=0)
+    max_bound = points.max(axis=0)
+
+    # Center and range
+    center = (min_bound + max_bound) / 2.0
+    scale = (max_bound - min_bound).max() / 2.0  # Scale using the longest edge
+
+    # Scale point cloud to [-1, 1]
+    scaled_points = (points - center) / scale
+    pcd.points = o3d.utility.Vector3dVector(scaled_points)
+
+    return pcd
+
+def get_full_transformation(prim):
+    """
+    Get the full transformation matrix of the object relative to the world coordinate system,
+    including transformations from all ancestor objects.
+    """
+    transform_matrix = np.identity(4)  # Initialize as identity matrix
+
+    # Starting from the object, apply transformations from all ancestors level by level
+    current_prim = prim
+    while current_prim:
+        # Get the transformation matrix of the current object
+        xform = UsdGeom.Xform(current_prim)
+        local_transform = xform.GetLocalTransformation()
+
+        # Apply the current object's transformation to the accumulated transformation
+        transform_matrix = np.dot(local_transform.GetTranspose(), transform_matrix)
+
+        # Move to parent object
+        current_prim = current_prim.GetParent()
+
+    return transform_matrix
+
+def convert_to_world_coordinates(prim, local_vertices):
+    """
+    Convert local coordinates to world coordinates.
+    """
+    # Get transformation matrix relative to world coordinate system
+    transform_matrix = get_full_transformation(prim)
+
+    # Convert local vertices to world coordinate system
+    world_vertices = []
+    for vertex in local_vertices:
+        # Convert to homogeneous coordinates
+        local_point = np.append(vertex, 1)  # [x, y, z, 1]
+
+        # Convert to world coordinate system
+        world_point = np.dot(transform_matrix, local_point)[:3]  # Take only first 3 coordinates
+        world_vertices.append(world_point)
+
+    return np.array(world_vertices)
+
+def extract_all_geometry_from_usd(usd_file):
+    # Load USD file
+    stage = Usd.Stage.Open(usd_file)
+
+    # Store geometric information for all objects
+    all_meshes = []
+
+    # Traverse all Prims
+    for prim in stage.Traverse():
+        if prim.IsA(UsdGeom.Mesh):
+            # Extract Mesh
+            mesh = UsdGeom.Mesh(prim)
+
+            # Get vertices
+            points = mesh.GetPointsAttr().Get()  # List of vertices
+            vertices = np.array([[p[0], p[1], p[2]] for p in points])
+
+            # If conversion to world coordinate system is needed, call conversion function
+            vertices = convert_to_world_coordinates(prim, vertices)
+
+            # Get face vertex indices
+            face_indices = mesh.GetFaceVertexIndicesAttr().Get()  # Indices of all face vertices
+            face_vertex_counts = mesh.GetFaceVertexCountsAttr().Get()  # Number of vertices per face
+
+            # Split indices and triangulate
+            faces = []
+            index = 0
+            for count in face_vertex_counts:
+                face = face_indices[index:index + count]
+                index += count
+                if len(face) == 3:
+                    faces.append(face)  # Already a triangle
+                elif len(face) > 3:
+                    for i in range(1, len(face) - 1):
+                        faces.append([face[0], face[i], face[i + 1]])
+
+            faces = np.array(faces)
+
+            # Get normals (if available)
+            if mesh.GetNormalsAttr().IsAuthored() and mesh.GetNormalsAttr().Get() is not None:
+                normals = mesh.GetNormalsAttr().Get()
+                normals = np.array([[n[0], n[1], n[2]] for n in normals])
+            else:
+                normals = None
+
+            # Store geometric information for current object
+            all_meshes.append((vertices, faces, normals))
+
+    # If no geometry is found, raise exception
+    if not all_meshes:
+        raise ValueError("No geometry found in USD file.")
+
+    return all_meshes
+
+def visualize_geometries(meshes):
+    # Build Open3D Mesh and visualize
+    all_meshes = o3d.geometry.TriangleMesh()
+    for idx , (vertice, face, _) in enumerate(meshes):  # Ignore normals
+        mesh = o3d.geometry.TriangleMesh()
+        mesh.vertices = o3d.utility.Vector3dVector(vertice)
+        mesh.triangles = o3d.utility.Vector3iVector(face)
+        mesh.paint_uniform_color(np.random.random(size=3))
+        all_meshes+=mesh
+
+    pcd = all_meshes.sample_points_uniformly(number_of_points=10000000)
+    return pcd
+
+
+# Extract geometric information
+all_meshes = extract_all_geometry_from_usd(usd_file)
+o3d.utility.set_verbosity_level(o3d.utility.VerbosityLevel.Debug)
+viewer = o3d.visualization.VisualizerWithEditing()
+viewer.create_window()
+
+# Visualize
+pcd=visualize_geometries(all_meshes)
+viewer.add_geometry(pcd)
+opt = viewer.get_render_option()
+opt.show_coordinate_frame = True
+
+viewer.run()
+viewer.destroy_window()
+
+print("saving picked points")
+picked_points = viewer.get_picked_points()
+
+if len(picked_points) == 0:
+    print("No points were picked")
+    exit()
+
+xyz = np.asarray(pcd.points)
+print(picked_points)
+picked_points = xyz[picked_points]
+print(picked_points)
+color_lists = ["red", "yellow", "blue", "green", "magenta", "purple", "orange"]
+
+keypoint_description_file = os.path.join(dir_name_kps, "keypoints.json")
+keypoint_info = {
+    "keypoints": {c: p.tolist() for c, p in zip(color_lists, picked_points)},
+}
+with open(keypoint_description_file, "w") as f:
+    json.dump(keypoint_info, f, indent=4, sort_keys=True)
+print("keypoint_info saved to", keypoint_description_file)

workflows/simbox/tools/art/close_h_down/tool/transfer_keypoints.py

@@ -0,0 +1,82 @@
+# pylint: skip-file
+# flake8: noqa
+import os
+import sys
+
+current_path = os.getcwd()
+sys.path.append(f"{current_path}")
+
+import numpy as np
+import argparse
+import json
+
+from isaacsim import SimulationApp
+simulation_app = SimulationApp({"headless": True})
+from omni.isaac.core.utils.prims import get_prim_at_path
+from omni.isaac.core.utils.transformations import get_relative_transform
+from omni.isaac.core.utils.stage import add_reference_to_stage
+from omni.isaac.core import World
+from omni.isaac.core.articulations.articulation import Articulation
+
+
+if __name__ == "__main__":
+    parser = argparse.ArgumentParser()
+    parser.add_argument("--config", type=str, help="Path to config file")
+    args = parser.parse_args()
+
+    # Load configuration
+    with open(args.config, 'r') as f:
+        config = json.load(f)
+
+    # Use configuration
+    dir_name = config['DIR']
+    instance_prim_path = os.path.join("/", config["INSTANCE_NAME"])
+    link0_initial_prim_path = (config["link0_initial_prim_path"]).replace("/root", "instance")
+    base_initial_prim_path = (config["base_initial_prim_path"]).replace("/root", "instance")
+
+    TASK = "close_h_down"
+    dir_name_kps = os.path.join(config['DIR'], "Kps", TASK)
+    os.makedirs(dir_name_kps, exist_ok=True)
+
+    usd_file = os.path.join(dir_name, "instance.usd")
+    keypoint_path = os.path.join(dir_name_kps, "keypoints.json")
+    target_keypoint_path = os.path.join(dir_name_kps, "keypoints_final.json")
+
+    if not os.path.exists(keypoint_path):
+        print(f"keypoint file {keypoint_path} not found")
+
+    my_world = World()
+    reference = add_reference_to_stage(usd_path=usd_file, prim_path=instance_prim_path)
+    prim_path = str(reference.GetPrimPath()) 
+    prim = Articulation(
+        prim_path,
+        name=config['INSTANCE_NAME']
+    )
+    my_world.scene.add(prim)
+    instance2link_pose = get_relative_transform(get_prim_at_path(instance_prim_path),get_prim_at_path(os.path.join(instance_prim_path, link0_initial_prim_path)))
+    instance2base_pose = get_relative_transform(get_prim_at_path(instance_prim_path),get_prim_at_path(os.path.join(instance_prim_path, base_initial_prim_path)))
+    kploc2base = json.load(open(keypoint_path))["keypoints"]
+    kplocs = {}
+    for name, kploc in kploc2base.items():
+        if name == "red" or name == "yellow":
+            kploc = np.append(kploc,1)
+            kplocs[name] = (instance2link_pose @ kploc).tolist()[:3]
+        elif name == "blue":
+            kploc = np.append(kploc,1)
+            kplocs[name] = (instance2base_pose @ kploc).tolist()[:3]
+        else:
+            kplocs[name] = kploc
+
+    # compute scale
+    my_world.scene.enable_bounding_boxes_computations()
+    bbox = my_world.scene.compute_object_AABB(config['INSTANCE_NAME'])
+    volume = (bbox[1][0]-bbox[0][0])*(bbox[1][1]-bbox[0][1])*(bbox[1][2]-bbox[0][2])
+    scaled_volume=config['SCALED_VOLUME']
+    scale = (scaled_volume / volume) **(1/3)
+
+    data = {
+        "keypoints": kplocs,
+        "scale" : [scale,scale,scale,1.0]
+    }
+    json.dump(data, open(target_keypoint_path, "w"), indent=4)
+    print("Saved keypoints to ", target_keypoint_path)

workflows/simbox/tools/art/open_h/9912/usd/Kps/open_h/info.json

@@ -0,0 +1,30 @@
+{
+    "object_keypoints": {
+        "articulated_object_head": [
+            -0.035239604449614714,
+            0.7252983000853978,
+            -0.45597309745505976
+        ],
+        "articulated_object_tail": [
+            -0.013825964195682362,
+            0.2464374220979118,
+            -0.3244951761498688
+        ]
+    },
+    "object_scale": [
+        0.19638594442308585,
+        0.19638594442308585,
+        0.19638594442308585,
+        1.0
+    ],
+    "object_name": "laptop9912",
+    "object_usd": "YOUR_PATH_TO_9912/usd/instance.usd",
+    "object_link0_rot_axis": "x",
+    "object_link0_contact_axis": "-x",
+    "object_base_front_axis": "z",
+    "joint_index": 0,
+    "object_prim_path": "/laptop9912",
+    "object_link_path": "/laptop9912/instance/group_1",
+    "object_base_path": "/laptop9912/instance/group_0",
+    "object_revolute_joint_path": "/laptop9912/instance/group_1/RevoluteJoint"
+}

workflows/simbox/tools/art/open_h/9912/usd/Kps/open_h/keypoints_final.json

@@ -0,0 +1,20 @@
+{
+    "keypoints": {
+        "red": [
+            -0.035239604449614714,
+            0.7252983000853978,
+            -0.45597309745505976
+        ],
+        "yellow": [
+            -0.013825964195682362,
+            0.2464374220979118,
+            -0.3244951761498688
+        ]
+    },
+    "scale": [
+        0.19638594442308585,
+        0.19638594442308585,
+        0.19638594442308585,
+        1.0
+    ]
+}

workflows/simbox/tools/art/open_h/9912/usd/keypoints_config.json

@@ -0,0 +1,13 @@
+{
+    "DIR": "YOUR_PATH_TO_9912/usd",
+    "USD_NAME": "9912.usd",
+    "INSTANCE_NAME": "laptop9912",
+    "link0_initial_prim_path": "/root/group_1",
+    "base_initial_prim_path": "/root/group_0",
+    "revolute_joint_initial_prim_path": "/root/group_1/RevoluteJoint",
+    "joint_index": 0,
+    "LINK0_ROT_AXIS": "x",
+    "BASE_FRONT_AXIS": "z",
+    "LINK0_CONTACT_AXIS": "-x",
+    "SCALED_VOLUME": 0.01
+}

workflows/simbox/tools/art/open_h/readme.md

@@ -0,0 +1,45 @@
+# Annotation Documentation
+
+We provide an optimized and simplified annotation pipeline that removes many redundancies. No need to rename base_link, contact_link, etc. Keep the original hierarchy and naming as much as possible.
+
+## 🗂️ File Information
+
+| Configuration | Example | Description |
+|---------------|---------|-------------|
+| **DIR** | `YOUR_PATH_TO_DIR/usd` | Directory where USD files are stored |
+| **USD_NAME** | `9912.usd` | Scene description file name |
+| **INSTANCE_NAME** | `laptop9912` | Model identifier in the scene. You can name it yourself, preferably matching the generated file name |
+
+## 🔧 Model Structure Configuration
+
+| Component | Example | Description |
+|-----------|---------|-------------|
+| **link0_initial_prim_path** | `/root/group_1` | Absolute path in Isaac Sim for the "door" that interacts with the gripper. Check in the original USD |
+| **base_initial_prim_path** | `/root/group_0` | Absolute path in Isaac Sim for the microwave base. Check in the original USD |
+| **revolute_joint_initial_prim_path** | `/root/group_1/RevoluteJoint` | Absolute path in Isaac Sim for the revolute joint that opens/closes the microwave. Check in the original USD |
+| **Joint Index** | `0` | Joint number, default is 0 |
+
+## 🧭 Axis Configuration
+
+| 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) |
+
+## 📏 Physical Parameters
+
+| Parameter | Example | Description |
+|-----------|---------|-------------|
+| **SCALED_VOLUME** | `0.01` | Default value 0.01 for laptop objects |
+
+---
+
+# Point Annotation
+
+| 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) |
+
+---

workflows/simbox/tools/art/open_h/tool/keypoints_pipeline.sh

@@ -0,0 +1,21 @@
+# pylint: skip-file
+# flake8: noqa
+# Replace the following keypoints_config path with your absolute path
+CONFIG_PATH="YOUR_PATH_TO_9912/usd/keypoints_config.json"
+
+# Replace the following open_h_new path with your absolute path
+cd workflows/simbox/tools/art/open_h/tool
+
+# Run the following scripts in sequence
+
+# 1. rehier - This should generate peixun/7265/usd/instance.usd file to indicate success
+python rehier.py --config $CONFIG_PATH
+
+# 2. select points
+python select_keypoint.py --config $CONFIG_PATH
+
+# 3. Transfer keypoints
+python transfer_keypoints.py --config $CONFIG_PATH
+
+# 4. Overwrite keypoints
+python overwrite_keypoints.py --config $CONFIG_PATH

workflows/simbox/tools/art/open_h/tool/overwrite_keypoints.py

@@ -0,0 +1,57 @@
+# pylint: skip-file
+# flake8: noqa
+import os
+import json
+import numpy as np
+
+import argparse
+
+parser = argparse.ArgumentParser()
+parser.add_argument("--config", type=str, help="Path to config file")
+args = parser.parse_args()
+
+with open(args.config, 'r') as f:
+    config = json.load(f)
+
+TASK = "open_h"
+dir_name = config["DIR"]
+dir_name_kps = os.path.join(config['DIR'], "Kps", TASK)
+os.makedirs(dir_name_kps, exist_ok=True)
+
+usd_file = os.path.join(dir_name, "instance.usd")
+keypoint_path = os.path.join(dir_name_kps, "keypoints_final.json")
+target_keypoint_path = os.path.join(dir_name_kps, "info.json")
+
+if not os.path.exists(target_keypoint_path):
+    with open(target_keypoint_path,'w') as file:
+        data={"object_keypoints":{}}
+        json.dump(data,file,indent=4)
+
+if not os.path.exists(keypoint_path) or not os.path.exists(target_keypoint_path):
+    print(f"keypoint file {keypoint_path} or {target_keypoint_path} not found")
+
+kp = json.load(open(keypoint_path))
+tkp = json.load(open(target_keypoint_path))
+
+tkp["object_keypoints"]["articulated_object_head"] = kp["keypoints"]["red"]
+tkp["object_keypoints"]["articulated_object_tail"] = kp["keypoints"]["yellow"]
+
+tkp["object_scale"] = kp["scale"]
+tkp["object_name"] = config["INSTANCE_NAME"]
+tkp["object_usd"] = usd_file
+tkp["object_link0_rot_axis"] = config["LINK0_ROT_AXIS"]
+tkp["object_link0_contact_axis"] = config["LINK0_CONTACT_AXIS"]
+tkp["object_base_front_axis"] = config["BASE_FRONT_AXIS"]
+tkp["joint_index"] = config["joint_index"]
+
+tkp["object_prim_path"] = os.path.join("/", config["INSTANCE_NAME"])
+link0_initial_prim_path = (config["link0_initial_prim_path"]).replace("/root", "instance")
+base_initial_prim_path = (config["base_initial_prim_path"]).replace("/root", "instance")
+revolute_joint_initial_prim_path = (config["revolute_joint_initial_prim_path"]).replace("/root", "instance")
+
+tkp["object_link_path"] = os.path.join("/", config["INSTANCE_NAME"], link0_initial_prim_path)
+tkp["object_base_path"] = os.path.join("/", config["INSTANCE_NAME"], base_initial_prim_path)
+tkp["object_revolute_joint_path"] = os.path.join("/", config["INSTANCE_NAME"], revolute_joint_initial_prim_path)
+
+json.dump(tkp, open(target_keypoint_path, "w"), indent=4)
+print("Saved keypoints to ", target_keypoint_path)

workflows/simbox/tools/art/open_h/tool/rehier.py

@@ -0,0 +1,302 @@
+# pylint: skip-file
+# flake8: noqa
+import os
+import json
+import argparse
+from pathlib import Path
+from pxr import Usd, UsdGeom, UsdPhysics, Gf, Sdf
+from pdb import set_trace
+
+def remove_articulation_root(prim: Usd.Prim):
+    prim.RemoveAPI(UsdPhysics.ArticulationRootAPI)  
+    allchildren = prim.GetAllChildren()
+    if len(allchildren) == 0:
+        return 
+    else:
+        for child in allchildren:
+            remove_articulation_root(child)
+
+def remove_rigidbody(prim: Usd.Prim):
+    prim.RemoveAPI(UsdPhysics.RigidBodyAPI) 
+    allchildren = prim.GetAllChildren()
+    if len(allchildren) == 0:
+        return
+    else:
+        for child in allchildren:
+            remove_rigidbody(child)
+
+def remove_mass(prim: Usd.Prim):
+    prim.RemoveAPI(UsdPhysics.MassAPI)
+    allchildren = prim.GetAllChildren()
+    if len(allchildren) == 0:
+        return
+    else:
+        for child in allchildren:
+            remove_mass(child)
+
+def add_rigidbody(prim: Usd.Prim):
+    UsdPhysics.RigidBodyAPI.Apply(prim)
+
+def add_mass(prim: Usd.Prim):
+    UsdPhysics.MassAPI.Apply(prim)
+    mass = prim.GetAttribute("physics:mass")
+    mass.Clear()
+
+def get_args():
+    parser = argparse.ArgumentParser(description="USD Hierarchy and Physics Editor")
+    parser.add_argument("--config", type=str, required=True, help="Path to config file")
+
+    return parser.parse_args()
+
+def load_config(config_path):
+    with open(config_path, 'r') as f:
+        return json.load(f)
+
+def safe_rename_prim(stage, old_path, new_path):
+    editor = Usd.NamespaceEditor(stage)
+    old_p = stage.GetPrimAtPath(old_path)
+    editor.RenamePrim(old_p, new_path.split('/')[-1])
+
+    if editor.CanApplyEdits():
+        editor.ApplyEdits()
+        return True
+    else:
+        return False
+
+def modify_hierarchy(stage, config):
+    editor = Usd.NamespaceEditor(stage)
+
+    """ Modify USD hierarchy structure """
+    base_path = config["base_initial_prim_path"]
+    link0_path = config["link0_initial_prim_path"]
+    revolute_joint_path = config["revolute_joint_initial_prim_path"]
+
+    # Get original root node
+    old_root_path = f"/{link0_path.split('/')[1]}"
+    instance_path = "/root/instance"
+    safe_rename_prim(stage, '/{}'.format(stage.GetDefaultPrim().GetName()), "/instance")
+
+    return instance_path
+
+def modify_physics(stage, instance_root_path, config):
+    """ Modify physics properties and ensure colliders are uniformly set to Convex Hull """
+    print(f"Applying physics modifications and setting colliders to ConvexHull...")
+
+    # Traverse all nodes for processing
+    for prim in stage.Traverse():
+        # 1. Clear instancing (if editing physics properties of individual instances)
+        if prim.IsInstanceable():
+            prim.ClearInstanceable()
+
+        # 2. Process Mesh colliders
+        if prim.IsA(UsdGeom.Mesh):
+            # Ensure base collision API is applied
+            if not prim.HasAPI(UsdPhysics.CollisionAPI):
+                UsdPhysics.CollisionAPI.Apply(prim)
+
+            # Force apply MeshCollisionAPI to set collision approximation
+            mesh_collision_api = UsdPhysics.MeshCollisionAPI.Get(stage, prim.GetPath())
+            if not mesh_collision_api:
+                mesh_collision_api = UsdPhysics.MeshCollisionAPI.Apply(prim)
+
+            # Set collision approximation to 'convexHull'
+            # Optional values include: 'none', 'convexHull', 'convexDecomposition', 'meshSimplification', etc.
+            mesh_collision_api.CreateApproximationAttr().Set("convexHull")
+
+            # Ensure physics collision is enabled
+            col_enabled_attr = prim.GetAttribute("physics:collisionEnabled")
+            if not col_enabled_attr.HasValue():
+                col_enabled_attr.Set(True)
+
+def create_fixed_joint(stage, joint_path, body0_path, body1_path):
+    """
+    Create a FixedJoint at the specified path and connect two rigid bodies.
+    """
+    # 1. Define FixedJoint node
+    fixed_joint = UsdPhysics.FixedJoint.Define(stage, joint_path)
+
+    # 2. Set Body0 and Body1 path references
+    # Note: Paths must be of Sdf.Path type
+    fixed_joint.GetBody0Rel().SetTargets([Sdf.Path(body0_path)])
+    fixed_joint.GetBody1Rel().SetTargets([Sdf.Path(body1_path)])
+
+    # 3. (Optional) Set local offset (Local Pose)
+    # If not set, the joint defaults to the origin of both objects
+    # fixed_joint.GetLocalPos0Attr().Set(Gf.Vec3f(0, 0, 0))
+    # fixed_joint.GetLocalRot0Attr().Set(Gf.Quatf(1, 0, 0, 0))
+
+    print(f"Successfully created FixedJoint: {joint_path}")
+    print(f"  Connected: {body0_path} <---> {body1_path}")
+    return fixed_joint
+
+def process_joints(stage, revolute_joint_initial_prim_path):
+    # 1. Collect paths to process
+    paths_to_delete = []
+    joints_to_convert = []
+
+    # Use TraverseAll to ensure no defined nodes are missed
+    for prim in stage.Traverse():
+        # Check if it is a physics joint
+        if prim.IsA(UsdPhysics.Joint):
+            path = prim.GetPath()
+
+            # Logic A: If FixedJoint -> delete
+            if prim.IsA(UsdPhysics.FixedJoint):
+                paths_to_delete.append(path)
+
+            # Logic B: If not FixedJoint and path does not contain 'contact_link' -> convert to FixedJoint
+            # elif "contact_link" not in str(path).lower():
+            #     joints_to_convert.append(path)
+            elif str(path) != revolute_joint_initial_prim_path:
+                joints_to_convert.append(path)
+
+            print(str(path))
+
+    # 2. Get current edit layer
+    layer = stage.GetEditTarget().GetLayer()
+    edit = Sdf.BatchNamespaceEdit()
+
+    # Execute deletion logic
+    for path in paths_to_delete:
+        edit.Add(path, Sdf.Path.emptyPath)
+        print(f"[Delete] FixedJoint: {path}")
+
+    # 3. Apply deletion edits
+    if paths_to_delete:
+        layer.Apply(edit)
+
+    # 4. Execute type conversion logic
+    # In USD, changing type usually means re-Defining the new type at that path
+    for path in joints_to_convert:
+        # Record original Body0 and Body1 relationships to prevent loss after conversion
+        prim = stage.GetPrimAtPath(path)
+        joint = UsdPhysics.Joint(prim)
+        body0 = joint.GetBody0Rel().GetTargets()
+        body1 = joint.GetBody1Rel().GetTargets()
+
+        # Redefine as FixedJoint
+        new_fixed_joint = UsdPhysics.FixedJoint.Define(stage, path)
+
+        # Restore relationships
+        if body0: new_fixed_joint.GetBody0Rel().SetTargets(body0)
+        if body1: new_fixed_joint.GetBody1Rel().SetTargets(body1)
+
+        safe_rename_prim(stage, str(new_fixed_joint.GetPath()),  "/FixedJoint")
+
+        print(f"[Convert] Regular joint -> FixedJoint: {path}")
+
+    return stage
+
+def final_refine(stage, output_usd_path, revolute_joint_initial_prim_path):
+    root_prim = stage.GetPrimAtPath("/root")
+    instance_prim = stage.GetPrimAtPath("/root/instance")  
+    ### remove articulation root ###
+    remove_articulation_root(root_prim)
+
+    ### remove rigid body ###   
+    remove_rigidbody(root_prim) 
+
+    ### remove mass ###
+    # remove_mass(root_prim)
+
+    ### add rigid body and mass ###
+    for child in instance_prim.GetAllChildren():   
+        
+        if child.GetTypeName() == "PhysicsRevoluteJoint" or child.GetTypeName() == "PhysicsPrismaticJoint":
+            continue
+
+        if child.GetTypeName() == "Xform" :
+            print('name:', child.GetTypeName())
+            add_rigidbody(child)
+
+    stage = process_joints(stage, revolute_joint_initial_prim_path)
+
+    ### add articulation root ###
+    UsdPhysics.ArticulationRootAPI.Apply(instance_prim)
+    stage.SetDefaultPrim(root_prim)
+    
+    for child in instance_prim.GetAllChildren():
+        try:
+            attr = child.GetAttribute('physics:jointEnabled')
+        except:
+            continue
+        if attr.Get() is not None:
+            print(child)
+            attr.Set(True)
+
+    modify_physics(stage, "/root/instance", 11)
+    stage.Export(output_usd_path)
+
+    return stage
+
+def import_as_copy(source_usd_path, output_usd_path, root_name="root", sub_node_name="instance"):
+    """
+    Create a new USD and copy the content from source_usd_path to /root/sub_node_name.
+    """
+    # 1. Create target Stage and root node
+    stage = Usd.Stage.CreateNew(output_usd_path)
+    root_path = Sdf.Path(f"/{root_name}")
+    UsdGeom.Xform.Define(stage, root_path)
+
+    # 2. Define copy destination path (e.g., /root/model_copy)
+    dest_path = root_path.AppendChild(sub_node_name)
+
+    # 3. Open source file layer
+    source_layer = Sdf.Layer.FindOrOpen(source_usd_path)
+
+    if not source_layer:
+        print(f"Error: Cannot find source file {source_usd_path}")
+        return
+
+    # 4. Get source file's default prim (DefaultPrim) as copy target
+    # If source file has no default prim, use the first root prim
+    source_root_name = list(source_layer.rootPrims)[0].name
+    source_path = Sdf.Path(f"/{source_root_name}")
+
+    # 5. Execute core copy operation (Sdf.CopySpec)
+    # This copies all attributes, topology, and properties from source file to new file
+    Sdf.CopySpec(source_layer, source_path, stage.GetRootLayer(), dest_path)
+
+    # 6. Set default prim and save
+    stage.SetDefaultPrim(stage.GetPrimAtPath(root_path))
+    stage.GetRootLayer().Save()
+    print(f"Success! Content copied to: {output_usd_path}")
+
+    return stage, output_usd_path
+
+def main():
+    args = get_args()
+    config = load_config(args.config)
+
+    dir_name = config["DIR"]
+    usd_path = os.path.join(dir_name, config["USD_NAME"])
+    output_path = os.path.join(dir_name, "instance.usd")
+    revolute_joint_initial_prim_path = (config["revolute_joint_initial_prim_path"]).replace("root", "root/instance")
+
+    # --- Key improvement: Open Stage using Flatten ---
+    # This writes all reference data directly into the main layer, preventing reference loss after path changes
+    base_stage = Usd.Stage.Open(usd_path)
+
+    stage = Usd.Stage.CreateInMemory()
+    stage.GetRootLayer().TransferContent(base_stage.Flatten())
+
+    # 1. Modify hierarchy
+    instance_path = modify_hierarchy(stage, config)
+
+    # 3. Export
+    print(f"Exporting to: {output_path}")
+    stage.GetRootLayer().Export(output_path)
+    
+    stage, output_usd_path = import_as_copy(output_path, output_path.replace('.usd', '_refiened.usd'))
+    stage = final_refine(stage, output_usd_path.replace('.usd', '_final.usd'), revolute_joint_initial_prim_path)
+
+    stage.Export(output_path)
+
+    os.remove(output_path.replace('.usd', '_refiened.usd'))
+    os.remove(output_usd_path.replace('.usd', '_final.usd'))
+
+    print("Done.")
+
+
+if __name__ == "__main__":
+    main()

workflows/simbox/tools/art/open_h/tool/select_keypoint.py

@@ -0,0 +1,202 @@
+# pylint: skip-file
+# flake8: noqa
+import os
+import argparse
+import numpy as np
+import open3d as o3d
+import json
+from pxr import Usd, UsdGeom
+
+def mkdir_if_missing(dst_dir):
+    if not os.path.exists(dst_dir):
+        os.makedirs(dst_dir)
+
+colors = [
+    [1, 0, 0],
+    [0, 1, 0],
+    [0, 0, 1],
+    [0.5, 0, 0],
+    [0, 0.5, 0],
+    [0, 0, 0.5],
+]  # red, green, blue
+
+parser = argparse.ArgumentParser()
+parser.add_argument("--config", type=str, help="Path to config file")
+args = parser.parse_args()
+
+# Load configuration
+with open(args.config, 'r') as f:
+    config = json.load(f)
+
+# Use configuration
+TASK = "open_h"
+dir_name = config['DIR']
+
+dir_name_kps = os.path.join(config['DIR'], "Kps", TASK)
+os.makedirs(dir_name_kps, exist_ok=True)
+usd_file = os.path.join(dir_name, "instance.usd")
+keypoint_path = os.path.join(dir_name_kps, "keypoints.json")
+target_keypoint_path = os.path.join(dir_name_kps, "keypoints_final.json")
+
+def scale_pcd_to_unit(pcd):
+    # Get all points in the point cloud
+    points = np.asarray(pcd.points)
+
+    # Find min and max values
+    min_bound = points.min(axis=0)
+    max_bound = points.max(axis=0)
+
+    # Center and range
+    center = (min_bound + max_bound) / 2.0
+    scale = (max_bound - min_bound).max() / 2.0  # Scale using the longest edge
+
+    # Scale point cloud to [-1, 1]
+    scaled_points = (points - center) / scale
+    pcd.points = o3d.utility.Vector3dVector(scaled_points)
+
+    return pcd
+
+def get_full_transformation(prim):
+    """
+    Get the full transformation matrix of the object relative to the world coordinate system,
+    including transformations from all ancestor objects.
+    """
+    transform_matrix = np.identity(4)  # Initialize as identity matrix
+
+    # Starting from the object, apply transformations from all ancestors level by level
+    current_prim = prim
+    while current_prim:
+        # Get the transformation matrix of the current object
+        xform = UsdGeom.Xform(current_prim)
+        local_transform = xform.GetLocalTransformation()
+
+        # Apply the current object's transformation to the accumulated transformation
+        transform_matrix = np.dot(local_transform.GetTranspose(), transform_matrix)
+
+        # Move to parent object
+        current_prim = current_prim.GetParent()
+
+    return transform_matrix
+
+def convert_to_world_coordinates(prim, local_vertices):
+    """
+    Convert local coordinates to world coordinates.
+    """
+    # Get transformation matrix relative to world coordinate system
+    transform_matrix = get_full_transformation(prim)
+
+    # Convert local vertices to world coordinate system
+    world_vertices = []
+    for vertex in local_vertices:
+        # Convert to homogeneous coordinates
+        local_point = np.append(vertex, 1)  # [x, y, z, 1]
+
+        # Convert to world coordinate system
+        world_point = np.dot(transform_matrix, local_point)[:3]  # Take only first 3 coordinates
+        world_vertices.append(world_point)
+
+    return np.array(world_vertices)
+
+def extract_all_geometry_from_usd(usd_file):
+    # Load USD file
+    stage = Usd.Stage.Open(usd_file)
+
+    # Store geometric information for all objects
+    all_meshes = []
+
+    # Traverse all Prims
+    for prim in stage.Traverse():
+        if prim.IsA(UsdGeom.Mesh):
+            # Extract Mesh
+            mesh = UsdGeom.Mesh(prim)
+
+            # Get vertices
+            points = mesh.GetPointsAttr().Get()  # List of vertices
+            vertices = np.array([[p[0], p[1], p[2]] for p in points])
+
+            # If conversion to world coordinate system is needed, call conversion function
+            vertices = convert_to_world_coordinates(prim, vertices)
+
+            # Get face vertex indices
+            face_indices = mesh.GetFaceVertexIndicesAttr().Get()  # Indices of all face vertices
+            face_vertex_counts = mesh.GetFaceVertexCountsAttr().Get()  # Number of vertices per face
+
+            # Split indices and triangulate
+            faces = []
+            index = 0
+            for count in face_vertex_counts:
+                face = face_indices[index:index + count]
+                index += count
+                if len(face) == 3:
+                    faces.append(face)  # Already a triangle
+                elif len(face) > 3:
+                    for i in range(1, len(face) - 1):
+                        faces.append([face[0], face[i], face[i + 1]])
+
+            faces = np.array(faces)
+
+            # Get normals (if available)
+            if mesh.GetNormalsAttr().IsAuthored() and mesh.GetNormalsAttr().Get() is not None:
+                normals = mesh.GetNormalsAttr().Get()
+                normals = np.array([[n[0], n[1], n[2]] for n in normals])
+            else:
+                normals = None
+
+            # Store geometric information for current object
+            all_meshes.append((vertices, faces, normals))
+
+    # If no geometry is found, raise exception
+    if not all_meshes:
+        raise ValueError("No geometry found in USD file.")
+
+    return all_meshes
+
+def visualize_geometries(meshes):
+    # Build Open3D Mesh and visualize
+    all_meshes = o3d.geometry.TriangleMesh()
+    for idx , (vertice, face, _) in enumerate(meshes):  # Ignore normals
+        mesh = o3d.geometry.TriangleMesh()
+        mesh.vertices = o3d.utility.Vector3dVector(vertice)
+        mesh.triangles = o3d.utility.Vector3iVector(face)
+        mesh.paint_uniform_color(np.random.random(size=3))
+        all_meshes+=mesh
+
+    pcd = all_meshes.sample_points_uniformly(number_of_points=10000000)
+    return pcd
+
+
+# Extract geometric information
+all_meshes = extract_all_geometry_from_usd(usd_file)
+o3d.utility.set_verbosity_level(o3d.utility.VerbosityLevel.Debug)
+viewer = o3d.visualization.VisualizerWithEditing()
+viewer.create_window()
+
+# Visualize
+pcd=visualize_geometries(all_meshes)
+viewer.add_geometry(pcd)
+opt = viewer.get_render_option()
+opt.show_coordinate_frame = True
+
+viewer.run()
+viewer.destroy_window()
+
+print("saving picked points")
+picked_points = viewer.get_picked_points()
+
+if len(picked_points) == 0:
+    print("No points were picked")
+    exit()
+
+xyz = np.asarray(pcd.points)
+print(picked_points)
+picked_points = xyz[picked_points]
+print(picked_points)
+color_lists = ["red", "yellow", "blue", "green", "magenta", "purple", "orange"]
+
+keypoint_description_file = os.path.join(dir_name_kps, "keypoints.json")
+keypoint_info = {
+    "keypoints": {c: p.tolist() for c, p in zip(color_lists, picked_points)},
+}
+with open(keypoint_description_file, "w") as f:
+    json.dump(keypoint_info, f, indent=4, sort_keys=True)
+print("keypoint_info saved to", keypoint_description_file)

workflows/simbox/tools/art/open_h/tool/transfer_keypoints.py

@@ -0,0 +1,82 @@
+# pylint: skip-file
+# flake8: noqa
+import os
+import sys
+
+current_path = os.getcwd()
+sys.path.append(f"{current_path}")
+
+import numpy as np
+import argparse
+import json
+
+from isaacsim import SimulationApp
+simulation_app = SimulationApp({"headless": True})
+from omni.isaac.core.utils.prims import get_prim_at_path
+from omni.isaac.core.utils.transformations import get_relative_transform
+from omni.isaac.core.utils.stage import add_reference_to_stage
+from omni.isaac.core import World
+from omni.isaac.core.articulations.articulation import Articulation
+
+
+if __name__ == "__main__":
+    parser = argparse.ArgumentParser()
+    parser.add_argument("--config", type=str, help="Path to config file")
+    args = parser.parse_args()
+
+    # Load configuration
+    with open(args.config, 'r') as f:
+        config = json.load(f)
+
+    # Use configuration
+    dir_name = config['DIR']
+    instance_prim_path = os.path.join("/", config["INSTANCE_NAME"])
+    link0_initial_prim_path = (config["link0_initial_prim_path"]).replace("/root", "instance")
+    base_initial_prim_path = (config["base_initial_prim_path"]).replace("/root", "instance")
+
+    TASK = "open_h"
+    dir_name_kps = os.path.join(config['DIR'], "Kps", TASK)
+    os.makedirs(dir_name_kps, exist_ok=True)
+
+    usd_file = os.path.join(dir_name, "instance.usd")
+    keypoint_path = os.path.join(dir_name_kps, "keypoints.json")
+    target_keypoint_path = os.path.join(dir_name_kps, "keypoints_final.json")
+
+    if not os.path.exists(keypoint_path):
+        print(f"keypoint file {keypoint_path} not found")
+
+    my_world = World()
+    reference = add_reference_to_stage(usd_path=usd_file, prim_path=instance_prim_path)
+    prim_path = str(reference.GetPrimPath()) 
+    prim = Articulation(
+        prim_path,
+        name=config['INSTANCE_NAME']
+    )
+    my_world.scene.add(prim)
+    instance2link_pose = get_relative_transform(get_prim_at_path(instance_prim_path),get_prim_at_path(os.path.join(instance_prim_path, link0_initial_prim_path)))
+    instance2base_pose = get_relative_transform(get_prim_at_path(instance_prim_path),get_prim_at_path(os.path.join(instance_prim_path, base_initial_prim_path)))
+    kploc2base = json.load(open(keypoint_path))["keypoints"]
+    kplocs = {}
+    for name, kploc in kploc2base.items():
+        if name == "red" or name == "yellow":
+            kploc = np.append(kploc,1)
+            kplocs[name] = (instance2link_pose @ kploc).tolist()[:3]
+        elif name == "blue":
+            kploc = np.append(kploc,1)
+            kplocs[name] = (instance2base_pose @ kploc).tolist()[:3]
+        else:
+            kplocs[name] = kploc
+
+    # compute scale
+    my_world.scene.enable_bounding_boxes_computations()
+    bbox = my_world.scene.compute_object_AABB(config['INSTANCE_NAME'])
+    volume = (bbox[1][0]-bbox[0][0])*(bbox[1][1]-bbox[0][1])*(bbox[1][2]-bbox[0][2])
+    scaled_volume=config['SCALED_VOLUME']
+    scale = (scaled_volume / volume) **(1/3)
+
+    data = {
+        "keypoints": kplocs,
+        "scale" : [scale,scale,scale,1.0]
+    }
+    json.dump(data, open(target_keypoint_path, "w"), indent=4)
+    print("Saved keypoints to ", target_keypoint_path)