task_name: CloseBox
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:
  # ensure the gripper to be in contact with the box lid with whole fingers
  - keypoint_name: tool_head
    target_keypoint_name: link_contact_point
    tolerance: 0.000001
    type: point2point_constraint
    name: fingers_contact_with_link0

  # 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: object_link0_contact_axis
    target_axis_frame: object
    tolerance: 0.05
    target_inner_product: 1
    type: frame_axis_parallel
    name: hand_parallel_to_link0_edge

  - axis_from_keypoint_name: tool_tail
    axis_to_keypoint_name: tool_head
    target_axis: object_link0_move_axis
    target_axis_frame: object
    tolerance: 0.05
    target_inner_product: 1
    type: frame_axis_parallel
    name: hand_parallel_to_link0_move_axis

  # - 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

  # - 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: 0
  #   type: keypoint_axis_orthogonal

  # - axis_from_keypoint_name: tool_head
  #   axis_to_keypoint_name: tool_tail
  #   cross_target_axis1_from_keypoint_name: articulated_object_head
  #   cross_target_axis1_to_keypoint_name: articulated_object_tail
  #   target_axis: object_axis
  #   target_axis_frame: object # cross_target_axis2_frame
  #   tolerance: 0.05
  #   target_inner_product: 1
  #   type: frame_axis_parallel #
  #   name: fingers_orthogonal_to_link0

# for pre-actuation and post-actuation motions.
# Each motion is represented in the [mode,value] format
# mode: translate or rotate
# value: [x,y,z] in the tool frame for translate or radian for rotate
# Units are in meters and radians respectively.


contact_pose_index: 1
# pre-actuation pose list.
pre_actuation_motions: [["translate_z", -0.05]] #   ["translate_z", -0.0001] , ["translate_x", -0.01],
# post-actuation pose list
post_actuation_motions: [["translate_z", 0.3],["translate_z", 0.1],["translate_z", 0.05],["translate_z", 0.05]] # ["translate_z", 0.08],

# trajectory time
# actuation_time: 24 # time to reach task goal pose
# pre_actuation_times: [16, 20]
# post_actuation_times: [26, 32]

actuation_time: 6 # time to reach task goal pose
# pre_actuation_times: [4, 8]
# post_actuation_times: [16, 20]
pre_actuation_times: [4] # 6
post_actuation_times: [10, 12] # 6,