objects/genie/drawer/tv_table_drawer/interaction.json

{
    "is_articulated": true,
    "part_joint_limits":{
        "handle_01": {
            "lower_bound": 0,
            "upper_bound": 1.0
        },
        "handle_02": {
            "lower_bound": 0,
            "upper_bound": 1.0
        }
    },
    "interaction": {
        "passive": {
            "pull": {
                "open_right_drawer": [
                    {
                        "part_id": "handle_01",
                        "joint_direction": 1,
                        "joint_position_threshold": 0.06,
                        "joint_velocity_threshold": 999,
                        "distance": 0.15,
                        "xyz": [
                            0.0,
                            0.01,
                            0.0
                        ],
                        "direction": [
                            0,
                            1.0,
                            0.0
                        ]
                    }
                ],
                "open_left_drawer": [
                    {
                        "part_id": "handle_02",
                        "xyz": [
                            0.0,
                            0.01,
                            0.0
                        ],
                        "direction": [
                            0,
                            1.0,
                            0.0
                        ]
                    }
                ],
                "close_right_drawer": [
                    {
                        "part_id": "handle_01",
                        "joint_direction": -1,
                        "joint_position_threshold": 0.05,
                        "joint_velocity_threshold": 999,
                        "distance": 0.15,
                        "xyz": [
                            0.0,
                            0.01,
                            0.0
                        ],
                        "direction": [
                            0,
                            -1.0,
                            0.0
                        ]
                    }
                ],
                "close_left_drawer": [
                    {
                        "part_id": "handle_02",
                        "xyz": [
                            0.0,
                            0.01,
                            0.0
                        ],
                        "direction": [
                            0,
                            -1.0,
                            0.0
                        ]
                    }
                ]
            },
            "place": {
                "right_drawer": [
                    {
                        "xyz": [
                            0.0,
                            -0.08,
                            -0.12
                        ],
                        "direction": [
                            0.0,
                            0.0,
                            1.0
                        ]
                    },
                    {
                        "xyz": [
                            0.02,
                            -0.08,
                            -0.12
                        ],
                        "direction": [
                            0.0,
                            0.0,
                            1.0
                        ]
                    },
                    {
                        "xyz": [
                            -0.02,
                            -0.08,
                            -0.12
                        ],
                        "direction": [
                            0.0,
                            0.0,
                            1.0
                        ]
                    }
                ]
            },
            "push": {
                "close_right_drawer": [
                    {
                        "part_id": "handle_01",
                        "joint_direction": -1,
                        "joint_position_threshold": 0.08,
                        "joint_velocity_threshold": 999,
                        "distance": 0.13,
                        "xyz": [
                            0.16514,
                            0.02,
                            -0.01
                            
                        ],
                        "direction": [
                            0.0,
                            -1.0,
                            0.0
                        ]
                    },
                    {
                        "joint_direction": -1,
                        "joint_position_threshold": 0.08,
                        "joint_velocity_threshold": 999,
                        "distance": 0.13,
                        "xyz": [
                            0.17514,
                            0.02,
                            -0.01
                            
                        ],
                        "direction": [
                            0.0,
                            -1.0,
                            0.0
                        ]
                    },
                    {
                        "joint_direction": -1,
                        "joint_position_threshold": 0.08,
                        "joint_velocity_threshold": 999,
                        "distance": 0.13,
                        "xyz": [
                            0.18514,
                            0.02,
                            -0.01
                            
                        ],
                        "direction": [
                            0.0,
                            -1.0,
                            0.0
                        ]
                    }
                ]
            },
            "grasp": {
                "hook_right": [
                    "grasp_pose/hook_right.pkl"
                ]
            }
        }
    }
}