84 lines
2.8 KiB
YAML
84 lines
2.8 KiB
YAML
task_name: CloseBox
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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, articulated_object_tail]
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constraint_list:
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# ensure the gripper to be in contact with the box lid with whole fingers
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- keypoint_name: tool_head
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target_keypoint_name: link_contact_point
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tolerance: 0.000001
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type: point2point_constraint
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name: fingers_contact_with_link0
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# ensure surface of the gripper to be parallel to the box 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: object_link0_contact_axis
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target_axis_frame: object
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tolerance: 0.05
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target_inner_product: 1
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type: frame_axis_parallel
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name: hand_parallel_to_link0_edge
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- axis_from_keypoint_name: tool_tail
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axis_to_keypoint_name: tool_head
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target_axis: object_link0_move_axis
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target_axis_frame: object
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tolerance: 0.05
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target_inner_product: 1
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type: frame_axis_parallel
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name: hand_parallel_to_link0_move_axis
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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: [1.0, 0, 0]
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# target_axis_frame: object
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# tolerance: 0.01
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# target_inner_product: 0
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# type: frame_axis_orthogonal
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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_from_keypoint_name: articulated_object_head
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# target_axis_to_keypoint_name: articulated_object_tail
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# tolerance: 0.01
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# target_inner_product: 0
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# type: keypoint_axis_orthogonal
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# - axis_from_keypoint_name: tool_head
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# axis_to_keypoint_name: tool_tail
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# cross_target_axis1_from_keypoint_name: articulated_object_head
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# cross_target_axis1_to_keypoint_name: articulated_object_tail
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# target_axis: object_axis
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# target_axis_frame: object # cross_target_axis2_frame
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# tolerance: 0.05
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# target_inner_product: 1
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# type: frame_axis_parallel #
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# name: fingers_orthogonal_to_link0
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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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contact_pose_index: 1
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# pre-actuation pose list.
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pre_actuation_motions: [["translate_z", -0.05]] # ["translate_z", -0.0001] , ["translate_x", -0.01],
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# post-actuation pose list
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post_actuation_motions: [["translate_z", 0.3],["translate_z", 0.1],["translate_z", 0.05],["translate_z", 0.05]] # ["translate_z", 0.08],
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# trajectory time
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# actuation_time: 24 # time to reach task goal pose
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# pre_actuation_times: [16, 20]
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# post_actuation_times: [26, 32]
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actuation_time: 6 # time to reach task goal pose
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# pre_actuation_times: [4, 8]
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# post_actuation_times: [16, 20]
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pre_actuation_times: [4] # 6
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post_actuation_times: [10, 12] # 6,
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