62 lines
2.1 KiB
YAML
62 lines
2.1 KiB
YAML
task_name: OpenBox
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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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# make sure the robot gripper hits the box lid
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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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# 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: [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: 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_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: -1
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type: keypoint_axis_parallel
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# ensure gripper to point directly to the direction of the box
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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_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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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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# for pre-actuation and post-actuation poses relative to the tool.
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# Z axis positive points from gripper to fingers and X axis points to the front direction.
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# Each pose is represented in the [[x,y,z,roll,pitch,yaw]] format
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# Units are in meters and radians respectively.
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# pre-actuation notion list.
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pre_actuation_motions: [["translate_x", -0.05], ["translate_z", -0.15]] # [move gripper below lid, adjust gripper direction and approach]
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# post-actuation motion list. pushing down
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post_actuation_motions: [["rotate", -0.5]] # [lift lid up]
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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: [32] |