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

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+task_name: CloseLaptop
+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:
+- keypoint_name: tool_tail
+  target_keypoint_name: articulated_object_head
+  tolerance: 0.0001
+  type: point2point_constraint
+
+# ensure surface of the gripper to be parallel to the laptop lid
+- axis_from_keypoint_name: tool_head
+  axis_to_keypoint_name: tool_side
+  target_axis: [1.0, 0, 0]
+  target_axis_frame: object
+  tolerance: 0.01
+  target_inner_product: 1
+  type: frame_axis_parallel
+
+- 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
+
+
+
+# for pre-actuation and post-actuation poses relative to the tool. 
+# Z axis positive points from gripper to fingers and X axis points to the front direction. 
+# Each pose is represented in the [[x,y,z,roll,pitch,yaw]] format
+# Units are in meters and radians respectively.
+
+# pre-actuation pose list. 
+pre_actuation_motions: [["translate_x", 0.06], ["translate_z", -0.15]] # [adjust gripper direction and approach, move gripper above lid]
+
+# post-actuation pose list.
+post_actuation_motions: [["translate_z", 0.05], ["translate_x", -0.25]] # [press lid down]
+
+# trajectory time
+actuation_time: 20 # time to reach task goal pose
+pre_actuation_times: [12, 16]
+post_actuation_times: [22, 30]