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

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+task_name: TurnOnFaucet
+category_name: Articulated
+
+tool_keypoint_name_list: [tool_head, tool_tail, tool_side]
+object_keypoint_name_list: [articulated_object_head]
+
+constraint_list:
+# ensure the gripper to hold the faucet handle with fingers
+- keypoint_name: tool_head
+  target_keypoint_name: articulated_object_head
+  tolerance: 0.0001
+  type: point2point_constraint
+
+# ensure the gripper to point straight to the table
+- axis_from_keypoint_name: tool_head 
+  axis_to_keypoint_name: tool_tail
+  target_axis: [0, 0, 1.0]
+  target_axis_frame: world
+  tolerance: 0.01
+  target_inner_product: 1
+  type: frame_axis_parallel
+
+# ensure the axis between gripper finger tips to be parallel to the table
+- axis_from_keypoint_name: tool_head
+  axis_to_keypoint_name: tool_side
+  target_axis: [0, 0, 1.0]
+  target_axis_frame: world
+  tolerance: 0.01
+  type: frame_axis_orthogonal
+  target_inner_product: 0
+
+# ensure the axis between gripper finger tips to be orthogonal to the faucet handle
+- axis_from_keypoint_name: tool_head
+  axis_to_keypoint_name: tool_side
+  target_axis: [0, 0, 1.0]
+  target_axis_frame: object
+  tolerance: 0.01
+  type: frame_axis_orthogonal
+  target_inner_product: 0
+
+- 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
+  type: frame_axis_parallel
+  target_inner_product: 1
+
+
+
+# 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.
+
+# pre-actuation pose list. 
+pre_actuation_motions: [["translate_y", 0.12], ["translate_z", -0.15]] # [move above handle]
+
+# post-actuation pose list. pushing down
+post_actuation_motions: [["translate_z", 0.05], ["translate_y", -0.08], ["translate_x", 0.05]] # [turn the handle by 90 degree from left to right, turn the handle by 180 degree from left to right]
+
+# trajectory time
+actuation_time: 16  # time to reach task goal pose
+pre_actuation_times: [8, 12]
+post_actuation_times: [20, 24, 28]