[
    {
        "constraint_list": [
            {
                "keypoint_name": "tool_tail",
                "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_from_keypoint_name": "articulated_object_head",
                "target_axis_to_keypoint_name": "articulated_object_tail",
                "tolerance": 0.01,
                "target_inner_product": -1,
                "type": "keypoint_axis_parallel"
            },
            {
                "axis_from_keypoint_name": "tool_head",
                "axis_to_keypoint_name": "tool_side",
                "target_axis_from_keypoint_name": "articulated_object_head",
                "target_axis_to_keypoint_name": "articulated_object_tail",
                "tolerance": 0.01,
                "target_inner_product": 0,
                "type": "keypoint_axis_orthogonal"
            },
            {
                "axis_from_keypoint_name": "tool_head",
                "axis_to_keypoint_name": "tool_tail",
                "target_axis": [
                    1.0,
                    0,
                    0
                ],
                "target_axis_frame": "object",
                "tolerance": 0.01,
                "target_inner_product": 0,
                "type": "frame_axis_orthogonal"
            }
        ]
    },

    {
        "constraint_list": [
            {
                "keypoint_name": "tool_head",
                "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"
            }
        ]
    },

    {
        "constraint_list": [
            {
                "keypoint_name": "tool_tail",
                "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"
            }
        ]
    },

    {
        "constraint_list": [
            {
                "keypoint_name": "tool_head",
                "target_keypoint_name": "rigidbody_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": "world",
                "tolerance": 0.01,
                "target_inner_product": 1,
                "type": "frame_axis_parallel"
            }
        ]
    },

    {
        "constraint_list": [
            {
                "keypoint_name": "tool_head",
                "target_keypoint_name": "rigidbody_object_head",
                "tolerance": 0.001,
                "type": "point2point_constraint"
            },
            {
                "axis_from_keypoint_name": "tool_head",
                "axis_to_keypoint_name": "tool_side",
                "target_axis": [
                    0,
                    1.0,
                    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": "world",
                "tolerance": 0.01,
                "target_inner_product": 1,
                "type": "frame_axis_parallel"
            }
        ]
    },
    {
        "constraint_list": [
            {
                "keypoint_name": "tool_tail",
                "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": [
                    0,
                    1.0,
                    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": [
                    1.0,
                    0,
                    0
                ],
                "target_axis_frame": "object",
                "tolerance": 0.01,
                "target_inner_product": 1,
                "type": "frame_axis_parallel"
            }
        ]
    },
    {
        "constraint_list": [
            {
                "keypoint_name": "tool_tail",
                "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": [
                    0,
                    1.0,
                    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": [
                    1.0,
                    0,
                    0
                ],
                "target_axis_frame": "object",
                "tolerance": 0.01,
                "target_inner_product": -1,
                "type": "frame_axis_parallel"
            }
        ]
    }
    
]