43 lines
866 B
YAML
43 lines
866 B
YAML
category_name: Articulated
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constraint_list:
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- keypoint_name: tool_tail
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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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- axis_from_keypoint_name: tool_head
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axis_to_keypoint_name: tool_side
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target_axis:
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- 0
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- 1.0
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- 0
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target_axis_frame: object
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target_inner_product: -1
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tolerance: 0.01
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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:
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- 1.0
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- 0
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- 0
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target_axis_frame: object
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target_inner_product: 1
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tolerance: 0.01
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type: frame_axis_parallel
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object_keypoint_name_list:
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- articulated_object_head
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post_actuation_motions:
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- move-right
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- move-forward
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- move-forward
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pre_actuation_motions:
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- - translate_x
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- -0.1
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- - translate_z
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- -0.15
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task_name: CloseMicrowave
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tool_keypoint_name_list:
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- tool_head
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- tool_tail
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- tool_side
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