task_name: MoveToRefrigerator
category_name: Articulated

tool_keypoint_name_list: [tool_head, tool_tail, tool_side]
object_keypoint_name_list: [articulated_object_inside_base]

constraint_list:

- keypoint_name: tool_head
  target_keypoint_name: articulated_object_inside_base
  tolerance: 0.0001
  type: point2point_constraint

# ensure surface of the gripper to be parallel to the laptop lid
- axis_from_keypoint_name: tool_head
  axis_to_keypoint_name: tool_side
  target_axis: [0, 1.0, 0]
  target_axis_frame: world
  tolerance: 0.01
  target_inner_product: -1
  type: frame_axis_parallel

- axis_from_keypoint_name: tool_head
  axis_to_keypoint_name: tool_tail
  target_axis: [0, 0, 1.0]
  target_axis_frame: world
  tolerance: 0.01
  target_inner_product: 1
  type: frame_axis_parallel

# pre-actuation pose list. 
pre_actuation_motions: [["translate_x", -0.2], ["translate_y", 0.2],] # [adjust gripper direction and approach, move gripper above lid]

# post-actuation pose list.
post_actuation_motions: [] # [press lid down]

# trajectory time
actuation_time: 30 # time to reach task goal pose
pre_actuation_times: [15, 20]
post_actuation_times: []