touch_screen_task {
  id: "touch_screen"

  devices {
    arm_id: "right_arm"
    dexhand_id: "paxini_tip_1"
    camera_id: "right_hand_cam"
  }

  initialization {
    before_start: true
    after_finish: true
    joint_positions { joint_name: "R_SHOULDER_P" rad: -0.3678 }
    joint_positions { joint_name: "R_SHOULDER_R" rad: 1.1127 }
    joint_positions { joint_name: "R_SHOULDER_Y" rad: 1.6084 }
    joint_positions { joint_name: "R_ELBOW_R" rad: 1.61 }
    joint_positions { joint_name: "R_WRIST_P" rad: -2.5718 }
    joint_positions { joint_name: "R_WRIST_Y" rad: 0.1276 }
    joint_positions { joint_name: "R_WRIST_R" rad: 0.1297 }
    velocity: 1.0
    acceleration: 2.0
  }

  perception {
    apriltag {
      tag_size_m: 0.012
      depth_policy: TOUCH_SCREEN_DEPTH_POLICY_NONE
      target_point_method: TOUCH_SCREEN_TARGET_POINT_METHOD_TAG_PLANE
    }
  }

  alignment {
    ibvs {
      camera_link: "R_CAM"
      lambda: 0.4
      mu: 0.1
      qdot_max: 1.0
      vmax6 { x: 1.0 y: 1.0 z: 1.0 rx: 0.6 ry: 0.6 rz: 0.6 }
      amax6 { x: 2.4 y: 2.4 z: 4.5 rx: 2.5 ry: 2.5 rz: 2.5 }
      twist_filter_alpha: 1.0
      r_camera_to_visp {
        m00: 1.0 m01: 0.0 m02: 0.0
        m10: 0.0 m11: 1.0 m12: 0.0
        m20: 0.0 m21: 0.0 m22: 1.0
      }
      r_camera_to_urdf {
        m00: 1.0 m01: 0.0 m02: 0.0
        m10: 0.0 m11: 1.0 m12: 0.0
        m20: 0.0 m21: 0.0 m22: 1.0
      }
      control_joint_names: "R_SHOULDER_P"
      control_joint_names: "R_SHOULDER_R"
      control_joint_names: "R_SHOULDER_Y"
      control_joint_names: "R_ELBOW_R"
      control_joint_names: "R_WRIST_P"
      control_joint_names: "R_WRIST_Y"
      control_joint_names: "R_WRIST_R"
    }
    target {
      position_in_camera { x: -0.001 y: 0.08 z: 0.15 }
      rotation_vector { x: 3.14159265358979323846 y: 0.0 z: 0.0 }
      mode: TOUCH_SCREEN_ALIGN_MODE_RX_RY_AND_POSITION
    }
    error_threshold {
      x: 0.005
      y: 0.005
      z: 0.01
      rx: 0.1026646259971647
      ry: 0.1026646259971647
      rz: 0.1026646259971647
    }
    stable_frames: 2
    timeout_s: 20.0
    pause_when_reached: false
  }

  touch {
    speed_l {
      twist_tool { x: 0.0 y: -0.04 z: 0.0 rx: 0.0 ry: 0.0 rz: 0.0 }
      acceleration: 6.0
      max_distance_m: 0.035
    }
    tactile {
      finger: TOUCH_SCREEN_FINGER_TYPE_INDEX
      region: TOUCH_SCREEN_TACTILE_REGION_TIP
      criterion: TOUCH_SCREEN_TACTILE_CRITERION_FZ
      force_threshold: 1.0
    }
    dwell_time_s: 0.0
  }

  retract {
    twist_tool { x: 0.0 y: 0.08 z: 0.0 rx: 0.0 ry: 0.0 rz: 0.0 }
    acceleration: 8.0
    duration_s: 0.45
  }
}