Artificial Intelligence Wiki

On this page, you can find our convention for the coordinate systems on object models.

• Drawer handles should have the X pointing away from the hand, Z pointing along the handle, Y according to the right-hand rule. If the handle is vertical, Z should point up. The origin should be on the handle bar.

• Door joints should have the Z pointing along the joint, such that the rotation happens along Z.
• Supporting planes should generally have the Z pointing upwards. X and Y should generally just stay consistent. For drawers, it makes sense to direct X away from the robot / user.

• Knobs that are rotational should rotate around Z, a light switch should also rotate around Z and X should point away from the hand, a button is a prismatic joint, so the Z should point along the joint, i.e. away from the hand. Z rule is more important than the X rule here.

• No self collision at initial state (like in reality)

• Each object should have at least two folders: stl for collision and obj or dae for visual.
• File names should be in English and follow the convention of using capital letters to separate words, without any underscores. For example: Apple.obj, Table.obj, DoorHandle.obj, FridgeDoorHandle.obj
• For mesh and texture, conventions from Unreal Engine are used, Mesh is prefixed with SM_, Texture is prefixed with T_, Material is prefixed with M_. For example:
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• How to set origin to center of bounds in blender
• Tutorial: Pivot to BoundingBox Center