task_name: OpenBox
category_name: Articulated

tool_keypoint_name_list: [tool_head, tool_tail, tool_side]
object_keypoint_name_list: [articulated_object_head, articulated_object_tail]

constraint_list:
# make sure the robot gripper hits the box lid
- keypoint_name: tool_tail
  target_keypoint_name: articulated_object_head
  tolerance: 0.0001
  type: point2point_constraint

# ensure surface of the gripper to be parallel to the box 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_from_keypoint_name: articulated_object_head
  target_axis_to_keypoint_name: articulated_object_tail
  tolerance: 0.01
  target_inner_product: -1
  type: keypoint_axis_parallel
  
# ensure gripper to point directly to the direction of the box
- 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
  tolerance: 0.01
  target_inner_product: 0
  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
  tolerance: 0.01
  target_inner_product: 0
  type: frame_axis_orthogonal

# for pre-actuation and post-actuation poses relative to the tool. 
# Z axis positive points from gripper to fingers and X axis points to the front direction. 
# Each pose is represented in the [[x,y,z,roll,pitch,yaw]] format
# Units are in meters and radians respectively.

# pre-actuation notion list. 
pre_actuation_motions: [["translate_x", -0.05], ["translate_z", -0.15]] # [move gripper below lid, adjust gripper direction and approach]

# post-actuation motion list. pushing down
post_actuation_motions: [["rotate", -0.5]] # [lift lid up]

# trajectory time
actuation_time: 24 # time to reach task goal pose
pre_actuation_times: [16, 20]
post_actuation_times: [32]