2 lines
891 B
YAML
2 lines
891 B
YAML
{'task_name': 'PressToasterLever', 'category_name': 'Articulated', 'tool_keypoint_name_list': ['tool_head', 'tool_tail', 'tool_side'], 'object_keypoint_name_list': ['articulated_object_head'], 'constraint_list': [{'keypoint_name': 'tool_side', 'target_keypoint_name': 'articulated_object_head', 'tolerance': 0.0001, 'type': 'point2point_constraint'}, {'axis_from_keypoint_name': 'tool_head', 'axis_to_keypoint_name': 'tool_side', 'target_axis': [1.0, 0, 0], 'target_axis_frame': 'object', 'tolerance': 0.01, 'target_inner_product': 1, 'type': 'frame_axis_parallel'}, {'axis_from_keypoint_name': 'tool_head', 'axis_to_keypoint_name': 'tool_tail', 'target_axis': [0, 0, 1.0], 'target_axis_frame': 'object', 'tolerance': 0.01, 'target_inner_product': 0, 'type': 'frame_axis_orthogonal'}], 'pre_actuation_motions': [['translate_z', -0.15]], 'post_actuation_motions': ['move-down', 'move-down']}
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