task_name: ReachRigidBody
category_name: RigidBody

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

constraint_list:

- keypoint_name: tool_side
  target_keypoint_name: rigidbody_object_head
  tolerance: 0.001
  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: [1.0, 0, 0]
#   target_axis_frame: object
#   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_z", -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: 20 # time to reach task goal pose
pre_actuation_times: [12]
post_actuation_times: []