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 | /home/shixu/Downloads/peixun/7265/usd |
Directory where USD files are stored |
| USD_NAME | microwave_0.usd |
Scene description file name |
| INSTANCE_NAME | microwave7265 |
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_18 |
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_18/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 | y |
In the local coordinate system of the rotating joint, the axis direction pointing vertically upward |  |
| BASE_FRONT_AXIS | z |
In the local coordinate system of the microwave base link, the axis direction facing the door |  |
| LINK0_CONTACT_AXIS | -y |
In the local coordinate system of the contact link, the axis direction pointing vertically downward |  |
📏 Physical Parameters
| Parameter | Example | Description |
|---|---|---|
| SCALED_VOLUME | 0.02 |
Default value 0.02 for microwave-like objects |
Point Annotation
| Point Type | Description | Visualization |
|---|---|---|
| First Point (articulated_object_head) | Desired base position where the gripper contacts the microwave door |
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| Second Point (articulated_object_tail) | The line direction from the first point should be perpendicular to the microwave door's rotation axis |
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