40 lines
1.1 KiB
YAML
40 lines
1.1 KiB
YAML
task_name: MoveInsideBox
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category_name: Articulated
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tool_keypoint_name_list: [tool_head, tool_tail, tool_side]
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object_keypoint_name_list: [articulated_object_inside_base]
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constraint_list:
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- keypoint_name: tool_head
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target_keypoint_name: articulated_object_inside_base
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tolerance: 0.0001
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type: point2point_constraint
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# ensure surface of the gripper to be parallel to the laptop lid
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- axis_from_keypoint_name: tool_head
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axis_to_keypoint_name: tool_side
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target_axis: [0, 1.0, 0]
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target_axis_frame: world
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tolerance: 0.01
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target_inner_product: -1
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type: frame_axis_parallel
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- axis_from_keypoint_name: tool_head
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axis_to_keypoint_name: tool_tail
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target_axis: [0, 0, 1.0]
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target_axis_frame: world
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tolerance: 0.01
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target_inner_product: 1
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type: frame_axis_parallel
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# pre-actuation pose list.
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pre_actuation_motions: [["translate_z", -0.1], ["translate_y", 0.2],] # [adjust gripper direction and approach, move gripper above lid]
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# post-actuation pose list.
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post_actuation_motions: [] # [press lid down]
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# trajectory time
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actuation_time: 30 # time to reach task goal pose
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pre_actuation_times: [15, 20]
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post_actuation_times: [] |