277 lines
8.6 KiB
JSON
277 lines
8.6 KiB
JSON
[
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{
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"constraint_list": [
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{
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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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},
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{
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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": [
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1.0,
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0,
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0
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],
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"target_axis_frame": "object",
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"target_inner_product": 1,
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"type": "frame_axis_parallel"
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},
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{
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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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},
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{
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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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},
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{
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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": [
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1.0,
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0,
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0
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],
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"target_axis_frame": "object",
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"type": "frame_axis_orthogonal"
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}
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]
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},
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{
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"constraint_list": [
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{
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"keypoint_name": "tool_head",
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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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},
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{
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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": [
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1.0,
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],
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"target_axis_frame": "object",
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},
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{
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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": [
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0,
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1.0
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],
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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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}
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]
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},
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{
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"constraint_list": [
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{
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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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},
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{
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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": [
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1.0,
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0,
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0
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"target_axis_frame": "object",
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"type": "frame_axis_parallel"
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},
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{
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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": [
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0,
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0,
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1.0
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],
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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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}
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]
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},
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{
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"constraint_list": [
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{
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"keypoint_name": "tool_head",
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"target_keypoint_name": "rigidbody_object_head",
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"tolerance": 0.0001,
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"type": "point2point_constraint"
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},
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{
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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": [
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1.0,
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0,
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0
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],
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"target_axis_frame": "object",
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"target_inner_product": -1,
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"type": "frame_axis_parallel"
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},
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{
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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": [
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0,
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0,
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1.0
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],
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"target_axis_frame": "world",
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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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}
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]
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},
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{
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"constraint_list": [
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{
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"keypoint_name": "tool_head",
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"target_keypoint_name": "rigidbody_object_head",
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"tolerance": 0.001,
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"type": "point2point_constraint"
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},
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{
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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": [
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0,
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1.0,
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0
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],
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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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},
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{
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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": [
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0,
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0,
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1.0
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],
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"target_axis_frame": "world",
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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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}
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]
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},
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{
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"constraint_list": [
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{
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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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},
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{
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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": [
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0,
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1.0,
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0
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],
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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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},
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{
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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": [
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1.0,
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0,
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0
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],
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"target_axis_frame": "object",
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"target_inner_product": 1,
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"type": "frame_axis_parallel"
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}
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]
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},
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{
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"constraint_list": [
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{
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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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},
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{
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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": [
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0,
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1.0,
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0
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],
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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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},
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{
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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": [
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1.0,
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0,
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0
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],
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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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}
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]
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}
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] |