category_name: Articulated
constraint_list:
- keypoint_name: tool_tail
  target_keypoint_name: articulated_object_head
  tolerance: 0.0001
  type: point2point_constraint
- axis_from_keypoint_name: tool_head
  axis_to_keypoint_name: tool_side
  target_axis:
  - 1.0
  - 0
  - 0
  target_axis_frame: object
  target_inner_product: -1
  tolerance: 0.01
  type: frame_axis_parallel
- axis_from_keypoint_name: tool_head
  axis_to_keypoint_name: tool_tail
  target_axis_from_keypoint_name: articulated_object_head
  target_axis_to_keypoint_name: articulated_object_tail
  target_inner_product: -1
  tolerance: 0.01
  type: keypoint_axis_parallel
- axis_from_keypoint_name: tool_head
  axis_to_keypoint_name: tool_side
  target_axis_from_keypoint_name: articulated_object_head
  target_axis_to_keypoint_name: articulated_object_tail
  target_inner_product: 0
  tolerance: 0.01
  type: keypoint_axis_orthogonal
- axis_from_keypoint_name: tool_head
  axis_to_keypoint_name: tool_tail
  target_axis:
  - 1.0
  - 0
  - 0
  target_axis_frame: object
  target_inner_product: 0
  tolerance: 0.01
  type: frame_axis_orthogonal
object_keypoint_name_list:
- articulated_object_head
- articulated_object_tail
post_actuation_motions:
- move-down
- move-backward
pre_actuation_motions:
- - translate_x
  - 0.1
- - translate_z
  - -0.15
task_name: CloseSuitcaseLid
tool_keypoint_name_list:
- tool_head
- tool_tail
- tool_side