{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: [0, 1.0, 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: [1.0, 0, 0], target_axis_frame: object,
target_inner_product: 1, tolerance: 0.01, type: frame_axis_parallel}], object_keypoint_name_list: [
articulated_object_head], post_actuation_motions: [[translate_x, -0.5]], pre_actuation_motions: [
[translate_x, 0.1], [translate_z, -0.15]], task_name: OpenRefrigeratorDoor, tool_keypoint_name_list: [
tool_head, tool_tail, tool_side]}