articulation tasks clean-up

.gitignore

@@ -16,3 +16,5 @@ tests/*.txt
 polygons.png
 _isaac_sim_410
 InterDataEngine-docs
+debug.sh
+debug.yaml

workflows/simbox/core/configs/tasks/art/franka/close_the_electriccooker/close_the_electriccooker.yaml

@@ -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

workflows/simbox/core/configs/tasks/art/franka/close_the_laptop/close_the_laptop.yaml

@@ -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

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

@@ -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

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

@@ -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

workflows/simbox/core/configs/tasks/art/franka/close_the_pot/close_the_pot.yaml

@@ -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

workflows/simbox/core/configs/tasks/art/franka/close_the_trashcan/close_the_trashcan.yaml

@@ -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

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

@@ -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

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

@@ -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

workflows/simbox/core/configs/tasks/art/franka/open_the_laptop/open_the_laptop.yaml

@@ -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

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

@@ -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

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

@@ -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

workflows/simbox/core/configs/tasks/art/franka/open_the_pot/open_the_pot.yaml

@@ -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

workflows/simbox/core/configs/tasks/art/franka/open_the_trashcan/open_the_trashcan.yaml

@@ -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

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

@@ -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

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

@@ -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

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

@@ -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

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

@@ -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

workflows/simbox/core/configs/tasks/art/lift2/close_the_package/close_the_package.yaml

@@ -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

workflows/simbox/core/configs/tasks/art/lift2/heat_the_food_in_the_microwave/heat_the_food_in_the_microwave.yaml

@@ -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

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

@@ -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

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

@@ -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

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

@@ -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

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

@@ -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

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

@@ -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

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

@@ -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

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

@@ -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

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

@@ -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

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

@@ -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

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

@@ -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

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

@@ -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

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

@@ -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

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

@@ -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

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

@@ -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

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

@@ -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

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

@@ -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

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

@@ -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

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

@@ -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

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

@@ -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

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

@@ -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

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

@@ -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

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

@@ -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

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

@@ -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

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

@@ -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

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

@@ -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

workflows/simbox/core/configs/tasks/art/split_aloha/open_the_microwave_from_scratch/open_the_microwave_from_scratch.yaml

@@ -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

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

@@ -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

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

@@ -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

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

@@ -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

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

@@ -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

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

@@ -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

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

@@ -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

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

@@ -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

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

@@ -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

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

@@ -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

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

@@ -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

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

@@ -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

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

@@ -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

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

@@ -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

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

@@ -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