66 lines
2.1 KiB
YAML
66 lines
2.1 KiB
YAML
task_name: TurnOnFaucet
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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_head]
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constraint_list:
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# ensure the gripper to hold the faucet handle with fingers
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- keypoint_name: tool_head
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target_keypoint_name: articulated_object_head
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tolerance: 0.0001
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type: point2point_constraint
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# ensure the gripper to point straight to the table
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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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# ensure the axis between gripper finger tips to be parallel to the table
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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, 0, 1.0]
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target_axis_frame: world
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tolerance: 0.01
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type: frame_axis_orthogonal
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target_inner_product: 0
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# ensure the axis between gripper finger tips to be orthogonal to the faucet handle
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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, 0, 1.0]
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target_axis_frame: object
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tolerance: 0.01
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type: frame_axis_orthogonal
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target_inner_product: 0
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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: [1.0, 0, 0]
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target_axis_frame: object
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tolerance: 0.01
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type: frame_axis_parallel
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target_inner_product: 1
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# for pre-actuation and post-actuation motions.
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# Each motion is represented in the [mode,value] format
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# mode: translate or rotate
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# value: [x,y,z] in the tool frame for translate or radian for rotate
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# Units are in meters and radians respectively.
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# pre-actuation pose list.
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pre_actuation_motions: [["translate_y", 0.12], ["translate_z", -0.15]] # [move above handle]
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# post-actuation pose list. pushing down
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post_actuation_motions: [["translate_z", 0.05], ["translate_y", -0.08], ["translate_x", 0.05]] # [turn the handle by 90 degree from left to right, turn the handle by 180 degree from left to right]
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# trajectory time
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actuation_time: 16 # time to reach task goal pose
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pre_actuation_times: [8, 12]
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post_actuation_times: [20, 24, 28] |