init commit

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

@@ -0,0 +1,41 @@
+category_name: Articulated
+constraint_list:
+-   keypoint_name: tool_tail
+    target_keypoint_name: articulated_object_head
+    tolerance: 0.0001
+    type: point2point_constraint
+-   axis_from_keypoint_name: tool_head
+    axis_to_keypoint_name: tool_side
+    target_axis:
+    - 0
+    - 1.0
+    - 0
+    target_axis_frame: object
+    target_inner_product: 1
+    tolerance: 0.01
+    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
+    target_inner_product: -1
+    tolerance: 0.01
+    type: frame_axis_parallel
+object_keypoint_name_list:
+- articulated_object_head
+post_actuation_motions:
+- move-right
+- move-right
+pre_actuation_motions:
+-   - translate_x
+    - 0.1
+-   - translate_z
+    - -0.15
+task_name: OpenSafe
+tool_keypoint_name_list:
+- tool_head
+- tool_tail
+- tool_side