init commit

workflows/simbox/solver/kpam/config/CloseBox_drawer.yaml

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+task_name: CloseBox
+category_name: Articulated
+
+tool_keypoint_name_list: [tool_head, tool_tail, tool_side]
+object_keypoint_name_list: [articulated_object_head, articulated_object_tail]
+
+constraint_list:
+  # ensure the gripper to be in contact with the box lid with whole fingers
+  - keypoint_name: tool_head
+    target_keypoint_name: link_contact_point
+    tolerance: 0.000001
+    type: point2point_constraint
+    name: fingers_contact_with_link0
+
+  # ensure surface of the gripper to be parallel to the box lid
+  - axis_from_keypoint_name: tool_head
+    axis_to_keypoint_name: tool_side
+    target_axis: object_link0_contact_axis
+    target_axis_frame: object
+    tolerance: 0.05
+    target_inner_product: 1
+    type: frame_axis_parallel
+    name: hand_parallel_to_link0_edge
+
+  - axis_from_keypoint_name: tool_tail
+    axis_to_keypoint_name: tool_head
+    target_axis: object_link0_move_axis
+    target_axis_frame: object
+    tolerance: 0.05
+    target_inner_product: 1
+    type: frame_axis_parallel
+    name: hand_parallel_to_link0_move_axis
+
+  # - axis_from_keypoint_name: tool_head
+  #   axis_to_keypoint_name: tool_tail
+  #   target_axis: [1.0, 0, 0]
+  #   target_axis_frame: object
+  #   tolerance: 0.01
+  #   target_inner_product: 0
+  #   type: frame_axis_orthogonal
+
+  # - axis_from_keypoint_name: tool_head
+  #   axis_to_keypoint_name: tool_tail
+  #   target_axis_from_keypoint_name: articulated_object_head
+  #   target_axis_to_keypoint_name: articulated_object_tail
+  #   tolerance: 0.01
+  #   target_inner_product: 0
+  #   type: keypoint_axis_orthogonal
+
+  # - axis_from_keypoint_name: tool_head
+  #   axis_to_keypoint_name: tool_tail
+  #   cross_target_axis1_from_keypoint_name: articulated_object_head
+  #   cross_target_axis1_to_keypoint_name: articulated_object_tail
+  #   target_axis: object_axis
+  #   target_axis_frame: object # cross_target_axis2_frame
+  #   tolerance: 0.05
+  #   target_inner_product: 1
+  #   type: frame_axis_parallel #
+  #   name: fingers_orthogonal_to_link0
+
+# for pre-actuation and post-actuation motions.
+# Each motion is represented in the [mode,value] format
+# mode: translate or rotate
+# value: [x,y,z] in the tool frame for translate or radian for rotate
+# Units are in meters and radians respectively.
+
+
+contact_pose_index: 1
+# pre-actuation pose list.
+pre_actuation_motions: [["translate_z", -0.05]] #   ["translate_z", -0.0001] , ["translate_x", -0.01],
+# post-actuation pose list
+post_actuation_motions: [["translate_z", 0.3],["translate_z", 0.1],["translate_z", 0.05],["translate_z", 0.05]] # ["translate_z", 0.08],
+
+# trajectory time
+# actuation_time: 24 # time to reach task goal pose
+# pre_actuation_times: [16, 20]
+# post_actuation_times: [26, 32]
+
+actuation_time: 6 # time to reach task goal pose
+# pre_actuation_times: [4, 8]
+# post_actuation_times: [16, 20]
+pre_actuation_times: [4] # 6
+post_actuation_times: [10, 12] # 6,