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articulation tasks clean-up

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Leon998
2026-03-17 19:37:23 +08:00
parent da28be4da1
commit 9a35cc7955
60 changed files with 3 additions and 142 deletions
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2
workflows/simbox/core/configs/tasks/art/franka/close_the_electriccooker/close_the_electriccooker.yaml
View File

@@ -125,7 +125,6 @@ tasks:
- axis_from_keypoint_name: tool_head
axis_to_keypoint_name: tool_side
target_axis: link0_contact_axis
target_axis_frame: object
tolerance: 0.05
target_inner_product: -1
type: frame_axis_parallel
@@ -136,7 +135,6 @@ tasks:
cross_target_axis1_from_keypoint_name: articulated_object_head
cross_target_axis1_to_keypoint_name: articulated_object_tail
target_axis: link0_contact_axis
target_axis_frame: object # cross_target_axis2_frame
tolerance: 0.05 # 0.05
target_inner_product: 1.0
type: frame_axis_parallel # enforce parallelism via cross product constraint

2
workflows/simbox/core/configs/tasks/art/franka/close_the_laptop/close_the_laptop.yaml
View File

@@ -125,7 +125,6 @@ tasks:
- axis_from_keypoint_name: tool_head
axis_to_keypoint_name: tool_side
target_axis: link0_contact_axis
target_axis_frame: object
tolerance: 0.05
target_inner_product: -1
type: frame_axis_parallel
@@ -136,7 +135,6 @@ tasks:
cross_target_axis1_from_keypoint_name: articulated_object_head
cross_target_axis1_to_keypoint_name: articulated_object_tail
target_axis: link0_contact_axis
target_axis_frame: object # cross_target_axis2_frame
tolerance: 0.05 # 0.05
target_inner_product: 1.0
type: frame_axis_parallel # enforce parallelism via cross product constraint

3
workflows/simbox/core/configs/tasks/art/franka/close_the_microwave/close_the_microwave_part0.yaml
View File

@@ -125,8 +125,6 @@ tasks:
axis_to_keypoint_name: tool_side
cross_target_axis1_from_keypoint_name: articulated_object_head
cross_target_axis1_to_keypoint_name: articulated_object_tail
target_axis: link0_contact_axis
target_axis_frame: object
tolerance: 0.005
target_inner_product: -1
type: frame_axis_parallel
@@ -137,7 +135,6 @@ tasks:
cross_target_axis1_from_keypoint_name: articulated_object_head
cross_target_axis1_to_keypoint_name: articulated_object_tail
target_axis: link0_contact_axis
target_axis_frame: object # cross_target_axis2_frame
tolerance: 0.2
target_inner_product: 0.5
type: frame_axis_parallel # enforce parallelism via cross product constraint

3
workflows/simbox/core/configs/tasks/art/franka/close_the_microwave/close_the_microwave_part1.yaml
View File

@@ -125,8 +125,6 @@ tasks:
axis_to_keypoint_name: tool_side
cross_target_axis1_from_keypoint_name: articulated_object_head
cross_target_axis1_to_keypoint_name: articulated_object_tail
target_axis: link0_contact_axis
target_axis_frame: object
tolerance: 0.005
target_inner_product: -1
type: frame_axis_parallel
@@ -137,7 +135,6 @@ tasks:
cross_target_axis1_from_keypoint_name: articulated_object_head
cross_target_axis1_to_keypoint_name: articulated_object_tail
target_axis: link0_contact_axis
target_axis_frame: object # cross_target_axis2_frame
tolerance: 0.2
target_inner_product: 0.5
type: frame_axis_parallel # enforce parallelism via cross product constraint

2
workflows/simbox/core/configs/tasks/art/franka/close_the_pot/close_the_pot.yaml
View File

@@ -125,7 +125,6 @@ tasks:
- axis_from_keypoint_name: tool_head
axis_to_keypoint_name: tool_side
target_axis: link0_contact_axis
target_axis_frame: object
tolerance: 0.05
target_inner_product: -1
type: frame_axis_parallel
@@ -136,7 +135,6 @@ tasks:
cross_target_axis1_from_keypoint_name: articulated_object_head
cross_target_axis1_to_keypoint_name: articulated_object_tail
target_axis: link0_contact_axis
target_axis_frame: object # cross_target_axis2_frame
tolerance: 0.05 # 0.05
target_inner_product: 1.0
type: frame_axis_parallel # enforce parallelism via cross product constraint

2
workflows/simbox/core/configs/tasks/art/franka/close_the_trashcan/close_the_trashcan.yaml
View File

@@ -125,7 +125,6 @@ tasks:
- axis_from_keypoint_name: tool_head
axis_to_keypoint_name: tool_side
target_axis: link0_contact_axis
target_axis_frame: object
tolerance: 0.05
target_inner_product: -1
type: frame_axis_parallel
@@ -136,7 +135,6 @@ tasks:
cross_target_axis1_from_keypoint_name: articulated_object_head
cross_target_axis1_to_keypoint_name: articulated_object_tail
target_axis: link0_contact_axis
target_axis_frame: object # cross_target_axis2_frame
tolerance: 0.05 # 0.05
target_inner_product: 1.0
type: frame_axis_parallel # enforce parallelism via cross product constraint

3
workflows/simbox/core/configs/tasks/art/franka/close_the_washingmachine/close_the_washingmachine_part0.yaml
View File

@@ -126,8 +126,6 @@ tasks:
axis_to_keypoint_name: tool_side
cross_target_axis1_from_keypoint_name: articulated_object_head
cross_target_axis1_to_keypoint_name: articulated_object_tail
target_axis: link0_contact_axis
target_axis_frame: object
tolerance: 0.005
target_inner_product: -1
type: frame_axis_parallel
@@ -138,7 +136,6 @@ tasks:
cross_target_axis1_from_keypoint_name: articulated_object_head
cross_target_axis1_to_keypoint_name: articulated_object_tail
target_axis: link0_contact_axis
target_axis_frame: object # cross_target_axis2_frame
tolerance: 0.2
target_inner_product: 0.5
type: frame_axis_parallel # enforce parallelism via cross product constraint

3
workflows/simbox/core/configs/tasks/art/franka/close_the_washingmachine/close_the_washingmachine_part1.yaml
View File

@@ -126,8 +126,6 @@ tasks:
axis_to_keypoint_name: tool_side
cross_target_axis1_from_keypoint_name: articulated_object_head
cross_target_axis1_to_keypoint_name: articulated_object_tail
target_axis: link0_contact_axis
target_axis_frame: object
tolerance: 0.005
target_inner_product: -1
type: frame_axis_parallel
@@ -138,7 +136,6 @@ tasks:
cross_target_axis1_from_keypoint_name: articulated_object_head
cross_target_axis1_to_keypoint_name: articulated_object_tail
target_axis: link0_contact_axis
target_axis_frame: object # cross_target_axis2_frame
tolerance: 0.2
target_inner_product: 0.5
type: frame_axis_parallel # enforce parallelism via cross product constraint

1
workflows/simbox/core/configs/tasks/art/franka/open_the_laptop/open_the_laptop.yaml
View File

@@ -126,7 +126,6 @@ tasks:
cross_target_axis1_from_keypoint_name: articulated_object_head
cross_target_axis1_to_keypoint_name: articulated_object_tail
target_axis: link0_contact_axis
target_axis_frame: object # cross_target_axis2_frame
tolerance: 0.0005
target_inner_product: -1
type: frame_axis_parallel # enforce parallelism via cross product constraint

2
workflows/simbox/core/configs/tasks/art/franka/open_the_microwave/open_the_microwave_part0.yaml
View File

@@ -124,7 +124,6 @@ tasks:
- axis_from_keypoint_name: tool_head
axis_to_keypoint_name: tool_tail
target_axis: link0_contact_axis
target_axis_frame: object
tolerance: 0.3
target_inner_product: -1
type: frame_axis_parallel
@@ -135,7 +134,6 @@ tasks:
cross_target_axis1_from_keypoint_name: articulated_object_head
cross_target_axis1_to_keypoint_name: articulated_object_tail
target_axis: link0_contact_axis
target_axis_frame: object # cross_target_axis2_frame
tolerance: 0.0005
target_inner_product: -1
type: frame_axis_parallel # enforce parallelism via cross product constraint

2
workflows/simbox/core/configs/tasks/art/franka/open_the_microwave/open_the_microwave_part1.yaml
View File

@@ -124,7 +124,6 @@ tasks:
- axis_from_keypoint_name: tool_head
axis_to_keypoint_name: tool_tail
target_axis: link0_contact_axis
target_axis_frame: object
tolerance: 0.3
target_inner_product: -1
type: frame_axis_parallel
@@ -135,7 +134,6 @@ tasks:
cross_target_axis1_from_keypoint_name: articulated_object_head
cross_target_axis1_to_keypoint_name: articulated_object_tail
target_axis: link0_contact_axis
target_axis_frame: object # cross_target_axis2_frame
tolerance: 0.0005
target_inner_product: -1
type: frame_axis_parallel # enforce parallelism via cross product constraint

1
workflows/simbox/core/configs/tasks/art/franka/open_the_pot/open_the_pot.yaml
View File

@@ -126,7 +126,6 @@ tasks:
cross_target_axis1_from_keypoint_name: articulated_object_head
cross_target_axis1_to_keypoint_name: articulated_object_tail
target_axis: link0_contact_axis
target_axis_frame: object # cross_target_axis2_frame
tolerance: 0.0005
target_inner_product: -1
type: frame_axis_parallel # enforce parallelism via cross product constraint

1
workflows/simbox/core/configs/tasks/art/franka/open_the_trashcan/open_the_trashcan.yaml
View File

@@ -126,7 +126,6 @@ tasks:
cross_target_axis1_from_keypoint_name: articulated_object_head
cross_target_axis1_to_keypoint_name: articulated_object_tail
target_axis: link0_contact_axis
target_axis_frame: object # cross_target_axis2_frame
tolerance: 0.0005
target_inner_product: -1
type: frame_axis_parallel # enforce parallelism via cross product constraint

3
workflows/simbox/core/configs/tasks/art/lift2/close_the_microwave/left/close_the_microwave_part0.yaml
View File

@@ -137,8 +137,6 @@ tasks:
axis_to_keypoint_name: tool_side
cross_target_axis1_from_keypoint_name: articulated_object_head
cross_target_axis1_to_keypoint_name: articulated_object_tail
target_axis: link0_contact_axis
target_axis_frame: object
tolerance: 0.005
target_inner_product: -1
type: frame_axis_parallel
@@ -149,7 +147,6 @@ tasks:
cross_target_axis1_from_keypoint_name: articulated_object_head
cross_target_axis1_to_keypoint_name: articulated_object_tail
target_axis: link0_contact_axis
target_axis_frame: object # cross_target_axis2_frame
tolerance: 0.005
target_inner_product: 0.7
type: frame_axis_parallel # enforce parallelism via cross product constraint

3
workflows/simbox/core/configs/tasks/art/lift2/close_the_microwave/left/close_the_microwave_part1.yaml
View File

@@ -137,8 +137,6 @@ tasks:
axis_to_keypoint_name: tool_side
cross_target_axis1_from_keypoint_name: articulated_object_head
cross_target_axis1_to_keypoint_name: articulated_object_tail
target_axis: link0_contact_axis
target_axis_frame: object
tolerance: 0.005
target_inner_product: -1
type: frame_axis_parallel
@@ -149,7 +147,6 @@ tasks:
cross_target_axis1_from_keypoint_name: articulated_object_head
cross_target_axis1_to_keypoint_name: articulated_object_tail
target_axis: link0_contact_axis
target_axis_frame: object # cross_target_axis2_frame
tolerance: 0.005
target_inner_product: 0.7
type: frame_axis_parallel # enforce parallelism via cross product constraint

3
workflows/simbox/core/configs/tasks/art/lift2/close_the_microwave/right/close_the_microwave_part2.yaml
View File

@@ -137,8 +137,6 @@ tasks:
axis_to_keypoint_name: tool_side
cross_target_axis1_from_keypoint_name: articulated_object_head
cross_target_axis1_to_keypoint_name: articulated_object_tail
target_axis: link0_contact_axis
target_axis_frame: object
tolerance: 0.005
target_inner_product: -1
type: frame_axis_parallel
@@ -149,7 +147,6 @@ tasks:
cross_target_axis1_from_keypoint_name: articulated_object_head
cross_target_axis1_to_keypoint_name: articulated_object_tail
target_axis: link0_contact_axis
target_axis_frame: object # cross_target_axis2_frame
tolerance: 0.005
target_inner_product: 0.7
type: frame_axis_parallel # enforce parallelism via cross product constraint

3
workflows/simbox/core/configs/tasks/art/lift2/close_the_microwave/right/close_the_microwave_part3.yaml
View File

@@ -137,8 +137,6 @@ tasks:
axis_to_keypoint_name: tool_side
cross_target_axis1_from_keypoint_name: articulated_object_head
cross_target_axis1_to_keypoint_name: articulated_object_tail
target_axis: link0_contact_axis
target_axis_frame: object
tolerance: 0.005
target_inner_product: -1
type: frame_axis_parallel
@@ -149,7 +147,6 @@ tasks:
cross_target_axis1_from_keypoint_name: articulated_object_head
cross_target_axis1_to_keypoint_name: articulated_object_tail
target_axis: link0_contact_axis
target_axis_frame: object # cross_target_axis2_frame
tolerance: 0.005
target_inner_product: 0.7
type: frame_axis_parallel # enforce parallelism via cross product constraint

16
workflows/simbox/core/configs/tasks/art/lift2/close_the_package/close_the_package.yaml
View File

@@ -153,7 +153,6 @@ tasks:
cross_target_axis1_from_keypoint_name: articulated_object_head
cross_target_axis1_to_keypoint_name: articulated_object_tail
target_axis: link0_contact_axis
target_axis_frame: object # cross_target_axis2_frame
tolerance: 0.05
target_inner_product: 1.0
type: frame_axis_parallel # enforce parallelism via cross product constraint
@@ -223,7 +222,6 @@ tasks:
cross_target_axis1_from_keypoint_name: articulated_object_head
cross_target_axis1_to_keypoint_name: articulated_object_tail
target_axis: link0_contact_axis
target_axis_frame: object # cross_target_axis2_frame
tolerance: 0.05
target_inner_product: 1.0
type: frame_axis_parallel # enforce parallelism via cross product constraint
@@ -293,7 +291,6 @@ tasks:
cross_target_axis1_from_keypoint_name: articulated_object_head
cross_target_axis1_to_keypoint_name: articulated_object_tail
target_axis: link0_contact_axis
target_axis_frame: object # cross_target_axis2_frame
tolerance: 0.05
target_inner_product: 1.0
type: frame_axis_parallel # enforce parallelism via cross product constraint
@@ -349,24 +346,11 @@ tasks:
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
# cross_target_axis1_from_keypoint_name: articulated_object_head
# cross_target_axis1_to_keypoint_name: articulated_object_tail
# target_axis: link0_contact_axis
# target_axis_frame: object
# tolerance: 0.1
# target_inner_product: -1
# type: frame_axis_parallel
# name: hand_parallel_to_link0_edge_door
- 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: link0_contact_axis
target_axis_frame: object # cross_target_axis2_frame
tolerance: 0.05
target_inner_product: 1.0
type: frame_axis_parallel # enforce parallelism via cross product constraint

6
workflows/simbox/core/configs/tasks/art/lift2/heat_the_food_in_the_microwave/heat_the_food_in_the_microwave.yaml
View File

@@ -159,8 +159,6 @@ tasks:
axis_to_keypoint_name: tool_side
cross_target_axis1_from_keypoint_name: articulated_object_head
cross_target_axis1_to_keypoint_name: articulated_object_tail
target_axis: link0_contact_axis
target_axis_frame: object
tolerance: 0.005
target_inner_product: -1
type: frame_axis_parallel
@@ -171,7 +169,6 @@ tasks:
cross_target_axis1_from_keypoint_name: articulated_object_head
cross_target_axis1_to_keypoint_name: articulated_object_tail
target_axis: link0_contact_axis
target_axis_frame: object # cross_target_axis2_frame
tolerance: 0.005
target_inner_product: 0.7
type: frame_axis_parallel # enforce parallelism via cross product constraint
@@ -263,8 +260,6 @@ tasks:
axis_to_keypoint_name: tool_side
cross_target_axis1_from_keypoint_name: articulated_object_head
cross_target_axis1_to_keypoint_name: articulated_object_tail
target_axis: link0_contact_axis
target_axis_frame: object
tolerance: 0.005
target_inner_product: -1
type: frame_axis_parallel
@@ -275,7 +270,6 @@ tasks:
cross_target_axis1_from_keypoint_name: articulated_object_head
cross_target_axis1_to_keypoint_name: articulated_object_tail
target_axis: link0_contact_axis
target_axis_frame: object # cross_target_axis2_frame
tolerance: 0.005
target_inner_product: 0.7
type: frame_axis_parallel # enforce parallelism via cross product constraint

2
workflows/simbox/core/configs/tasks/art/lift2/open_the_microwave/left/open_the_microwave_left_im.yaml
View File

@@ -156,7 +156,6 @@ tasks:
- axis_from_keypoint_name: tool_head
axis_to_keypoint_name: tool_tail
target_axis: link0_contact_axis
target_axis_frame: object
tolerance: 0.3
target_inner_product: -1
type: frame_axis_parallel
@@ -167,7 +166,6 @@ tasks:
cross_target_axis1_from_keypoint_name: articulated_object_head
cross_target_axis1_to_keypoint_name: articulated_object_tail
target_axis: link0_contact_axis
target_axis_frame: object # cross_target_axis2_frame
tolerance: 0.0005
target_inner_product: -1
type: frame_axis_parallel # enforce parallelism via cross product constraint

2
workflows/simbox/core/configs/tasks/art/lift2/open_the_microwave/left/open_the_microwave_part0.yaml
View File

@@ -136,7 +136,6 @@ tasks:
- axis_from_keypoint_name: tool_head
axis_to_keypoint_name: tool_tail
target_axis: link0_contact_axis
target_axis_frame: object
tolerance: 0.3
target_inner_product: -1
type: frame_axis_parallel
@@ -147,7 +146,6 @@ tasks:
cross_target_axis1_from_keypoint_name: articulated_object_head
cross_target_axis1_to_keypoint_name: articulated_object_tail
target_axis: link0_contact_axis
target_axis_frame: object # cross_target_axis2_frame
tolerance: 0.0005
target_inner_product: -1
type: frame_axis_parallel # enforce parallelism via cross product constraint

2
workflows/simbox/core/configs/tasks/art/lift2/open_the_microwave/left/open_the_microwave_part1.yaml
View File

@@ -136,7 +136,6 @@ tasks:
- axis_from_keypoint_name: tool_head
axis_to_keypoint_name: tool_tail
target_axis: link0_contact_axis
target_axis_frame: object
tolerance: 0.3
target_inner_product: -1
type: frame_axis_parallel
@@ -147,7 +146,6 @@ tasks:
cross_target_axis1_from_keypoint_name: articulated_object_head
cross_target_axis1_to_keypoint_name: articulated_object_tail
target_axis: link0_contact_axis
target_axis_frame: object # cross_target_axis2_frame
tolerance: 0.0005
target_inner_product: -1
type: frame_axis_parallel # enforce parallelism via cross product constraint

2
workflows/simbox/core/configs/tasks/art/lift2/open_the_microwave/right/open_the_microwave_part2.yaml
View File

@@ -136,7 +136,6 @@ tasks:
- axis_from_keypoint_name: tool_head
axis_to_keypoint_name: tool_tail
target_axis: link0_contact_axis
target_axis_frame: object
tolerance: 0.3
target_inner_product: -1
type: frame_axis_parallel
@@ -147,7 +146,6 @@ tasks:
cross_target_axis1_from_keypoint_name: articulated_object_head
cross_target_axis1_to_keypoint_name: articulated_object_tail
target_axis: link0_contact_axis
target_axis_frame: object # cross_target_axis2_frame
tolerance: 0.0005
target_inner_product: -1
type: frame_axis_parallel # enforce parallelism via cross product constraint

2
workflows/simbox/core/configs/tasks/art/lift2/open_the_microwave/right/open_the_microwave_part3.yaml
View File

@@ -136,7 +136,6 @@ tasks:
- axis_from_keypoint_name: tool_head
axis_to_keypoint_name: tool_tail
target_axis: link0_contact_axis
target_axis_frame: object
tolerance: 0.3
target_inner_product: -1
type: frame_axis_parallel
@@ -147,7 +146,6 @@ tasks:
cross_target_axis1_from_keypoint_name: articulated_object_head
cross_target_axis1_to_keypoint_name: articulated_object_tail
target_axis: link0_contact_axis
target_axis_frame: object # cross_target_axis2_frame
tolerance: 0.0005
target_inner_product: -1
type: frame_axis_parallel # enforce parallelism via cross product constraint

2
workflows/simbox/core/configs/tasks/art/lift2/pull_the_storagefurniture/left/pull_the_storagefurniture_left_arm_bottom.yaml
View File

@@ -128,7 +128,6 @@ tasks:
- axis_from_keypoint_name: tool_head
axis_to_keypoint_name: tool_side
target_axis: object_link0_move_axis
target_axis_frame: object
tolerance: 0.0005
target_inner_product: -1
type: frame_axis_parallel
@@ -137,7 +136,6 @@ tasks:
- axis_from_keypoint_name: tool_head
axis_to_keypoint_name: tool_tail
target_axis: object_link0_vertical_axis
target_axis_frame: object
tolerance: 0.3
target_inner_product: 1
type: frame_axis_parallel

2
workflows/simbox/core/configs/tasks/art/lift2/pull_the_storagefurniture/left/pull_the_storagefurniture_left_arm_middle.yaml
View File

@@ -128,7 +128,6 @@ tasks:
- axis_from_keypoint_name: tool_head
axis_to_keypoint_name: tool_side
target_axis: object_link0_move_axis
target_axis_frame: object
tolerance: 0.0005
target_inner_product: -1
type: frame_axis_parallel
@@ -137,7 +136,6 @@ tasks:
- axis_from_keypoint_name: tool_head
axis_to_keypoint_name: tool_tail
target_axis: object_link0_vertical_axis
target_axis_frame: object
tolerance: 0.3
target_inner_product: 1
type: frame_axis_parallel

2
workflows/simbox/core/configs/tasks/art/lift2/pull_the_storagefurniture/left/pull_the_storagefurniture_left_arm_top.yaml
View File

@@ -128,7 +128,6 @@ tasks:
- axis_from_keypoint_name: tool_head
axis_to_keypoint_name: tool_side
target_axis: object_link0_move_axis
target_axis_frame: object
tolerance: 0.0005
target_inner_product: -1
type: frame_axis_parallel
@@ -137,7 +136,6 @@ tasks:
- axis_from_keypoint_name: tool_head
axis_to_keypoint_name: tool_tail
target_axis: object_link0_vertical_axis
target_axis_frame: object
tolerance: 0.3
target_inner_product: 1
type: frame_axis_parallel

2
workflows/simbox/core/configs/tasks/art/lift2/pull_the_storagefurniture/right/pull_the_storagefurniture_right_arm_bottom.yaml
View File

@@ -128,7 +128,6 @@ tasks:
- axis_from_keypoint_name: tool_head
axis_to_keypoint_name: tool_side
target_axis: object_link0_move_axis
target_axis_frame: object
tolerance: 0.0005
target_inner_product: -1
type: frame_axis_parallel
@@ -137,7 +136,6 @@ tasks:
- axis_from_keypoint_name: tool_head
axis_to_keypoint_name: tool_tail
target_axis: object_link0_vertical_axis
target_axis_frame: object
tolerance: 0.3
target_inner_product: 1
type: frame_axis_parallel

2
workflows/simbox/core/configs/tasks/art/lift2/pull_the_storagefurniture/right/pull_the_storagefurniture_right_arm_middle.yaml
View File

@@ -128,7 +128,6 @@ tasks:
- axis_from_keypoint_name: tool_head
axis_to_keypoint_name: tool_side
target_axis: object_link0_move_axis
target_axis_frame: object
tolerance: 0.0005
target_inner_product: -1
type: frame_axis_parallel
@@ -137,7 +136,6 @@ tasks:
- axis_from_keypoint_name: tool_head
axis_to_keypoint_name: tool_tail
target_axis: object_link0_vertical_axis
target_axis_frame: object
tolerance: 0.3
target_inner_product: 1
type: frame_axis_parallel

2
workflows/simbox/core/configs/tasks/art/lift2/pull_the_storagefurniture/right/pull_the_storagefurniture_right_arm_top.yaml
View File

@@ -128,7 +128,6 @@ tasks:
- axis_from_keypoint_name: tool_head
axis_to_keypoint_name: tool_side
target_axis: object_link0_move_axis
target_axis_frame: object
tolerance: 0.0005
target_inner_product: -1
type: frame_axis_parallel
@@ -137,7 +136,6 @@ tasks:
- axis_from_keypoint_name: tool_head
axis_to_keypoint_name: tool_tail
target_axis: object_link0_vertical_axis
target_axis_frame: object
tolerance: 0.3
target_inner_product: 1
type: frame_axis_parallel

2
workflows/simbox/core/configs/tasks/art/lift2/push_the_storagefurniture/left/push_the_storagefurniture_left_arm_bottom.yaml
View File

@@ -127,7 +127,6 @@ tasks:
- axis_from_keypoint_name: tool_head
axis_to_keypoint_name: tool_side
target_axis: object_link0_contact_axis
target_axis_frame: object
tolerance: 0.0005
target_inner_product: -1
type: frame_axis_parallel
@@ -136,7 +135,6 @@ tasks:
- axis_from_keypoint_name: tool_tail
axis_to_keypoint_name: tool_head
target_axis: object_link0_move_axis
target_axis_frame: object
tolerance: 0.3
target_inner_product: 1
type: frame_axis_parallel

2
workflows/simbox/core/configs/tasks/art/lift2/push_the_storagefurniture/left/push_the_storagefurniture_left_arm_middle.yaml
View File

@@ -127,7 +127,6 @@ tasks:
- axis_from_keypoint_name: tool_head
axis_to_keypoint_name: tool_side
target_axis: object_link0_contact_axis
target_axis_frame: object
tolerance: 0.0005
target_inner_product: -1
type: frame_axis_parallel
@@ -136,7 +135,6 @@ tasks:
- axis_from_keypoint_name: tool_tail
axis_to_keypoint_name: tool_head
target_axis: object_link0_move_axis
target_axis_frame: object
tolerance: 0.3
target_inner_product: 1
type: frame_axis_parallel

2
workflows/simbox/core/configs/tasks/art/lift2/push_the_storagefurniture/left/push_the_storagefurniture_left_arm_top.yaml
View File

@@ -127,7 +127,6 @@ tasks:
- axis_from_keypoint_name: tool_head
axis_to_keypoint_name: tool_side
target_axis: object_link0_contact_axis
target_axis_frame: object
tolerance: 0.0005
target_inner_product: -1
type: frame_axis_parallel
@@ -136,7 +135,6 @@ tasks:
- axis_from_keypoint_name: tool_tail
axis_to_keypoint_name: tool_head
target_axis: object_link0_move_axis
target_axis_frame: object
tolerance: 0.3
target_inner_product: 1
type: frame_axis_parallel

2
workflows/simbox/core/configs/tasks/art/lift2/push_the_storagefurniture/right/push_the_storagefurniture_right_arm_bottom.yaml
View File

@@ -127,7 +127,6 @@ tasks:
- axis_from_keypoint_name: tool_head
axis_to_keypoint_name: tool_side
target_axis: object_link0_contact_axis
target_axis_frame: object
tolerance: 0.0005
target_inner_product: -1
type: frame_axis_parallel
@@ -136,7 +135,6 @@ tasks:
- axis_from_keypoint_name: tool_tail
axis_to_keypoint_name: tool_head
target_axis: object_link0_move_axis
target_axis_frame: object
tolerance: 0.3
target_inner_product: 1
type: frame_axis_parallel

2
workflows/simbox/core/configs/tasks/art/lift2/push_the_storagefurniture/right/push_the_storagefurniture_right_arm_middle.yaml
View File

@@ -127,7 +127,6 @@ tasks:
- axis_from_keypoint_name: tool_head
axis_to_keypoint_name: tool_side
target_axis: object_link0_contact_axis
target_axis_frame: object
tolerance: 0.0005
target_inner_product: -1
type: frame_axis_parallel
@@ -136,7 +135,6 @@ tasks:
- axis_from_keypoint_name: tool_tail
axis_to_keypoint_name: tool_head
target_axis: object_link0_move_axis
target_axis_frame: object
tolerance: 0.3
target_inner_product: 1
type: frame_axis_parallel

2
workflows/simbox/core/configs/tasks/art/lift2/push_the_storagefurniture/right/push_the_storagefurniture_right_arm_top.yaml
View File

@@ -127,7 +127,6 @@ tasks:
- axis_from_keypoint_name: tool_head
axis_to_keypoint_name: tool_side
target_axis: object_link0_contact_axis
target_axis_frame: object
tolerance: 0.0005
target_inner_product: -1
type: frame_axis_parallel
@@ -136,7 +135,6 @@ tasks:
- axis_from_keypoint_name: tool_tail
axis_to_keypoint_name: tool_head
target_axis: object_link0_move_axis
target_axis_frame: object
tolerance: 0.3
target_inner_product: 1
type: frame_axis_parallel

3
workflows/simbox/core/configs/tasks/art/split_aloha/close_the_microwave/left/close_the_microwave_part0.yaml
View File

@@ -131,8 +131,6 @@ tasks:
axis_to_keypoint_name: tool_side
cross_target_axis1_from_keypoint_name: articulated_object_head
cross_target_axis1_to_keypoint_name: articulated_object_tail
target_axis: link0_contact_axis
target_axis_frame: object
tolerance: 0.005
target_inner_product: -1
type: frame_axis_parallel
@@ -143,7 +141,6 @@ tasks:
cross_target_axis1_from_keypoint_name: articulated_object_head
cross_target_axis1_to_keypoint_name: articulated_object_tail
target_axis: link0_contact_axis
target_axis_frame: object # cross_target_axis2_frame
tolerance: 0.005
target_inner_product: 0.7
type: frame_axis_parallel # enforce parallelism via cross product constraint

3
workflows/simbox/core/configs/tasks/art/split_aloha/close_the_microwave/right/close_the_microwave_part1.yaml
View File

@@ -131,8 +131,6 @@ tasks:
axis_to_keypoint_name: tool_side
cross_target_axis1_from_keypoint_name: articulated_object_head
cross_target_axis1_to_keypoint_name: articulated_object_tail
target_axis: link0_contact_axis
target_axis_frame: object
tolerance: 0.005
target_inner_product: -1
type: frame_axis_parallel
@@ -143,7 +141,6 @@ tasks:
cross_target_axis1_from_keypoint_name: articulated_object_head
cross_target_axis1_to_keypoint_name: articulated_object_tail
target_axis: link0_contact_axis
target_axis_frame: object # cross_target_axis2_frame
tolerance: 0.005
target_inner_product: 0.7
type: frame_axis_parallel # enforce parallelism via cross product constraint

1
workflows/simbox/core/configs/tasks/art/split_aloha/close_the_oven/left/close_the_oven_part0.yaml
View File

@@ -143,7 +143,6 @@ tasks:
cross_target_axis1_from_keypoint_name: articulated_object_head
cross_target_axis1_to_keypoint_name: articulated_object_tail
target_axis: link0_contact_axis
target_axis_frame: object # cross_target_axis2_frame
tolerance: 0.5 # 0.05
target_inner_product: 1
type: frame_axis_parallel # enforce parallelism via cross product constraint

1
workflows/simbox/core/configs/tasks/art/split_aloha/close_the_oven/right/close_the_oven_part1.yaml
View File

@@ -143,7 +143,6 @@ tasks:
cross_target_axis1_from_keypoint_name: articulated_object_head
cross_target_axis1_to_keypoint_name: articulated_object_tail
target_axis: link0_contact_axis
target_axis_frame: object # cross_target_axis2_frame
tolerance: 0.5 # 0.05
target_inner_product: 1
type: frame_axis_parallel # enforce parallelism via cross product constraint

1
workflows/simbox/core/configs/tasks/art/split_aloha/grasp_the_microwave_handle/left/grasp_the_microwave_handle_part0.yaml
View File

@@ -146,7 +146,6 @@ tasks:
cross_target_axis1_from_keypoint_name: articulated_object_head
cross_target_axis1_to_keypoint_name: articulated_object_tail
target_axis: link0_contact_axis
target_axis_frame: object # cross_target_axis2_frame
tolerance: 0.6
target_inner_product: 1
type: frame_axis_parallel # enforce parallelism via cross product constraint

1
workflows/simbox/core/configs/tasks/art/split_aloha/grasp_the_microwave_handle/right/grasp_the_microwave_handle_part1.yaml
View File

@@ -146,7 +146,6 @@ tasks:
cross_target_axis1_from_keypoint_name: articulated_object_head
cross_target_axis1_to_keypoint_name: articulated_object_tail
target_axis: link0_contact_axis
target_axis_frame: object # cross_target_axis2_frame
tolerance: 0.6
target_inner_product: 1
type: frame_axis_parallel # enforce parallelism via cross product constraint

2
workflows/simbox/core/configs/tasks/art/split_aloha/open_the_microwave/left/open_the_microwave_part0.yaml
View File

@@ -130,7 +130,6 @@ tasks:
- axis_from_keypoint_name: tool_head
axis_to_keypoint_name: tool_tail
target_axis: link0_contact_axis
target_axis_frame: object
tolerance: 0.3
target_inner_product: -1
type: frame_axis_parallel
@@ -141,7 +140,6 @@ tasks:
cross_target_axis1_from_keypoint_name: articulated_object_head
cross_target_axis1_to_keypoint_name: articulated_object_tail
target_axis: link0_contact_axis
target_axis_frame: object # cross_target_axis2_frame
tolerance: 0.0005
target_inner_product: 1
type: frame_axis_parallel # enforce parallelism via cross product constraint

2
workflows/simbox/core/configs/tasks/art/split_aloha/open_the_microwave/right/open_the_microwave_part1.yaml
View File

@@ -129,7 +129,6 @@ tasks:
- axis_from_keypoint_name: tool_head
axis_to_keypoint_name: tool_tail
target_axis: link0_contact_axis
target_axis_frame: object
tolerance: 0.3
target_inner_product: -1
type: frame_axis_parallel
@@ -140,7 +139,6 @@ tasks:
cross_target_axis1_from_keypoint_name: articulated_object_head
cross_target_axis1_to_keypoint_name: articulated_object_tail
target_axis: link0_contact_axis
target_axis_frame: object # cross_target_axis2_frame
tolerance: 0.0005
target_inner_product: -1
type: frame_axis_parallel # enforce parallelism via cross product constraint

4
workflows/simbox/core/configs/tasks/art/split_aloha/open_the_microwave_from_scratch/open_the_microwave_from_scratch.yaml
View File

@@ -144,7 +144,6 @@ tasks:
cross_target_axis1_from_keypoint_name: articulated_object_head
cross_target_axis1_to_keypoint_name: articulated_object_tail
target_axis: link0_contact_axis
target_axis_frame: object
tolerance: 0.5
target_inner_product: 0.7
type: frame_axis_parallel
@@ -200,8 +199,6 @@ tasks:
axis_to_keypoint_name: tool_side
cross_target_axis1_from_keypoint_name: articulated_object_head
cross_target_axis1_to_keypoint_name: articulated_object_tail
target_axis: link0_contact_axis
target_axis_frame: object # cross_target_axis2_frame
tolerance: 0.0005
target_inner_product: -0.7
type: frame_axis_parallel # enforce parallelism via cross product constraint
@@ -210,7 +207,6 @@ tasks:
- axis_from_keypoint_name: tool_head
axis_to_keypoint_name: tool_tail
target_axis: link0_contact_axis
target_axis_frame: object
tolerance: 0.0005
target_inner_product: -0.7
type: frame_axis_parallel

2
workflows/simbox/core/configs/tasks/art/split_aloha/open_the_oven/left/open_the_oven_part0.yaml
View File

@@ -130,7 +130,6 @@ tasks:
- axis_from_keypoint_name: tool_head
axis_to_keypoint_name: tool_side
target_axis: link0_contact_axis
target_axis_frame: object
tolerance: 0.3
target_inner_product: -1
type: frame_axis_parallel
@@ -150,7 +149,6 @@ tasks:
cross_target_axis1_from_keypoint_name: articulated_object_head
cross_target_axis1_to_keypoint_name: articulated_object_tail
target_axis: link0_contact_axis
target_axis_frame: object # cross_target_axis2_frame
tolerance: 0.3
target_inner_product: 1
type: frame_axis_parallel # enforce parallelism via cross product constraint

2
workflows/simbox/core/configs/tasks/art/split_aloha/open_the_oven/right/open_the_oven_part1.yaml
View File

@@ -130,7 +130,6 @@ tasks:
- axis_from_keypoint_name: tool_head
axis_to_keypoint_name: tool_side
target_axis: link0_contact_axis
target_axis_frame: object
tolerance: 0.3
target_inner_product: 1
type: frame_axis_parallel
@@ -150,7 +149,6 @@ tasks:
cross_target_axis1_from_keypoint_name: articulated_object_head
cross_target_axis1_to_keypoint_name: articulated_object_tail
target_axis: link0_contact_axis
target_axis_frame: object # cross_target_axis2_frame
tolerance: 0.3
target_inner_product: 1
type: frame_axis_parallel # enforce parallelism via cross product constraint

2
workflows/simbox/core/configs/tasks/art/split_aloha/pull_the_storagefurniture/left/pull_the_storagefurniture_left_arm_bottom.yaml
View File

@@ -128,7 +128,6 @@ tasks:
- axis_from_keypoint_name: tool_head
axis_to_keypoint_name: tool_side
target_axis: object_link0_move_axis
target_axis_frame: object
tolerance: 0.0005
target_inner_product: -1
type: frame_axis_parallel
@@ -137,7 +136,6 @@ tasks:
- axis_from_keypoint_name: tool_head
axis_to_keypoint_name: tool_tail
target_axis: object_link0_vertical_axis
target_axis_frame: object
tolerance: 0.3
target_inner_product: 1
type: frame_axis_parallel

2
workflows/simbox/core/configs/tasks/art/split_aloha/pull_the_storagefurniture/left/pull_the_storagefurniture_left_arm_middle.yaml
View File

@@ -128,7 +128,6 @@ tasks:
- axis_from_keypoint_name: tool_head
axis_to_keypoint_name: tool_side
target_axis: object_link0_move_axis
target_axis_frame: object
tolerance: 0.0005
target_inner_product: -1
type: frame_axis_parallel
@@ -137,7 +136,6 @@ tasks:
- axis_from_keypoint_name: tool_head
axis_to_keypoint_name: tool_tail
target_axis: object_link0_vertical_axis
target_axis_frame: object
tolerance: 0.3
target_inner_product: 1
type: frame_axis_parallel

2
workflows/simbox/core/configs/tasks/art/split_aloha/pull_the_storagefurniture/left/pull_the_storagefurniture_left_arm_top.yaml
View File

@@ -128,7 +128,6 @@ tasks:
- axis_from_keypoint_name: tool_head
axis_to_keypoint_name: tool_side
target_axis: object_link0_move_axis
target_axis_frame: object
tolerance: 0.0005
target_inner_product: -1
type: frame_axis_parallel
@@ -137,7 +136,6 @@ tasks:
- axis_from_keypoint_name: tool_head
axis_to_keypoint_name: tool_tail
target_axis: object_link0_vertical_axis
target_axis_frame: object
tolerance: 0.3
target_inner_product: 1
type: frame_axis_parallel

2
workflows/simbox/core/configs/tasks/art/split_aloha/pull_the_storagefurniture/right/pull_the_storagefurniture_right_arm_bottom.yaml
View File

@@ -128,7 +128,6 @@ tasks:
- axis_from_keypoint_name: tool_head
axis_to_keypoint_name: tool_side
target_axis: object_link0_move_axis
target_axis_frame: object
tolerance: 0.0005
target_inner_product: -1
type: frame_axis_parallel
@@ -137,7 +136,6 @@ tasks:
- axis_from_keypoint_name: tool_head
axis_to_keypoint_name: tool_tail
target_axis: object_link0_vertical_axis
target_axis_frame: object
tolerance: 0.3
target_inner_product: 1
type: frame_axis_parallel

2
workflows/simbox/core/configs/tasks/art/split_aloha/pull_the_storagefurniture/right/pull_the_storagefurniture_right_arm_middle.yaml
View File

@@ -128,7 +128,6 @@ tasks:
- axis_from_keypoint_name: tool_head
axis_to_keypoint_name: tool_side
target_axis: object_link0_move_axis
target_axis_frame: object
tolerance: 0.0005
target_inner_product: -1
type: frame_axis_parallel
@@ -137,7 +136,6 @@ tasks:
- axis_from_keypoint_name: tool_head
axis_to_keypoint_name: tool_tail
target_axis: object_link0_vertical_axis
target_axis_frame: object
tolerance: 0.3
target_inner_product: 1
type: frame_axis_parallel

2
workflows/simbox/core/configs/tasks/art/split_aloha/pull_the_storagefurniture/right/pull_the_storagefurniture_right_arm_top.yaml
View File

@@ -128,7 +128,6 @@ tasks:
- axis_from_keypoint_name: tool_head
axis_to_keypoint_name: tool_side
target_axis: object_link0_move_axis
target_axis_frame: object
tolerance: 0.0005
target_inner_product: -1
type: frame_axis_parallel
@@ -137,7 +136,6 @@ tasks:
- axis_from_keypoint_name: tool_head
axis_to_keypoint_name: tool_tail
target_axis: object_link0_vertical_axis
target_axis_frame: object
tolerance: 0.3
target_inner_product: 1
type: frame_axis_parallel

2
workflows/simbox/core/configs/tasks/art/split_aloha/push_the_storagefurniture/left/push_the_storagefurniture_left_arm_bottom.yaml
View File

@@ -130,7 +130,6 @@ tasks:
- axis_from_keypoint_name: tool_head
axis_to_keypoint_name: tool_side
target_axis: object_link0_contact_axis
target_axis_frame: object
tolerance: 0.0005
target_inner_product: -1
type: frame_axis_parallel
@@ -139,7 +138,6 @@ tasks:
- axis_from_keypoint_name: tool_tail
axis_to_keypoint_name: tool_head
target_axis: object_link0_move_axis
target_axis_frame: object
tolerance: 0.3
target_inner_product: 1
type: frame_axis_parallel

2
workflows/simbox/core/configs/tasks/art/split_aloha/push_the_storagefurniture/left/push_the_storagefurniture_left_arm_middle.yaml
View File

@@ -130,7 +130,6 @@ tasks:
- axis_from_keypoint_name: tool_head
axis_to_keypoint_name: tool_side
target_axis: object_link0_contact_axis
target_axis_frame: object
tolerance: 0.0005
target_inner_product: -1
type: frame_axis_parallel
@@ -139,7 +138,6 @@ tasks:
- axis_from_keypoint_name: tool_tail
axis_to_keypoint_name: tool_head
target_axis: object_link0_move_axis
target_axis_frame: object
tolerance: 0.3
target_inner_product: 1
type: frame_axis_parallel

2
workflows/simbox/core/configs/tasks/art/split_aloha/push_the_storagefurniture/left/push_the_storagefurniture_left_arm_top.yaml
View File

@@ -130,7 +130,6 @@ tasks:
- axis_from_keypoint_name: tool_head
axis_to_keypoint_name: tool_side
target_axis: object_link0_contact_axis
target_axis_frame: object
tolerance: 0.0005
target_inner_product: -1
type: frame_axis_parallel
@@ -139,7 +138,6 @@ tasks:
- axis_from_keypoint_name: tool_tail
axis_to_keypoint_name: tool_head
target_axis: object_link0_move_axis
target_axis_frame: object
tolerance: 0.3
target_inner_product: 1
type: frame_axis_parallel

2
workflows/simbox/core/configs/tasks/art/split_aloha/push_the_storagefurniture/right/push_the_storagefurniture_right_arm_bottom.yaml
View File

@@ -130,7 +130,6 @@ tasks:
- axis_from_keypoint_name: tool_head
axis_to_keypoint_name: tool_side
target_axis: object_link0_contact_axis
target_axis_frame: object
tolerance: 0.0005
target_inner_product: -1
type: frame_axis_parallel
@@ -139,7 +138,6 @@ tasks:
- axis_from_keypoint_name: tool_tail
axis_to_keypoint_name: tool_head
target_axis: object_link0_move_axis
target_axis_frame: object
tolerance: 0.3
target_inner_product: 1
type: frame_axis_parallel

2
workflows/simbox/core/configs/tasks/art/split_aloha/push_the_storagefurniture/right/push_the_storagefurniture_right_arm_middle.yaml
View File

@@ -130,7 +130,6 @@ tasks:
- axis_from_keypoint_name: tool_head
axis_to_keypoint_name: tool_side
target_axis: object_link0_contact_axis
target_axis_frame: object
tolerance: 0.0005
target_inner_product: -1
type: frame_axis_parallel
@@ -139,7 +138,6 @@ tasks:
- axis_from_keypoint_name: tool_tail
axis_to_keypoint_name: tool_head
target_axis: object_link0_move_axis
target_axis_frame: object
tolerance: 0.3
target_inner_product: 1
type: frame_axis_parallel

2
workflows/simbox/core/configs/tasks/art/split_aloha/push_the_storagefurniture/right/push_the_storagefurniture_right_arm_top.yaml
View File

@@ -130,7 +130,6 @@ tasks:
- axis_from_keypoint_name: tool_head
axis_to_keypoint_name: tool_side
target_axis: object_link0_contact_axis
target_axis_frame: object
tolerance: 0.0005
target_inner_product: -1
type: frame_axis_parallel
@@ -139,7 +138,6 @@ tasks:
- axis_from_keypoint_name: tool_tail
axis_to_keypoint_name: tool_head
target_axis: object_link0_move_axis
target_axis_frame: object
tolerance: 0.3
target_inner_product: 1
type: frame_axis_parallel