上传文件至「gripper_cofig」
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{
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"name": "prototype",
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"version": "1.0",
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"camera": {
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"resolution_raw": [1280, 720],
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"fps": 30,
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"units": 15,
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"units_used": 9,
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"resolution_stitch": [263, 263],
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"stitch_res_list": [365,263,123,63]
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},
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"stitcher": {
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"min_area_frac": 0.01,
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"max_area_frac": 0.04,
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"max_aspect_ratio": 25,
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"index": [1,2,3,6,7,8,11,12,13],
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"margin": 10,
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"nominal_ov_pos": 67,
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"n": [3,3],
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"row_tol": 0.6,
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"box_size": [180, 180],
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"blend":"numpy",
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"blend_list": ["numpy", "numba","none"]
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},
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"tracker": {
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"adaptive": true,
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"lower_threshold": 12.0,
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"upper_threshold": 18.0,
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"loop_closure_interval": 1,
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"algorithm": "dis",
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"dis_preset": "medium",
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"dis_mode": 3,
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"algorithm_list": ["raft", "dis"],
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"hhd_downsample": 3,
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"backend": "cpu"
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},
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"contact": {
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"min_contour_area": 3000,
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"flow_threshold":1,
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"div_threshold":0.02,
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"expansion_threshold": 0.01,
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"kernel_size": [5,5],
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"denoise_sigma": 10
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}
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}
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@@ -0,0 +1,113 @@
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{
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"video1": "/dev/video2",
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"video2": "/dev/video4",
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"sensor_config1": "./config/ddjx01_q6a.json",
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"sensor_config2": "./config/ddjx01_q6a.json",
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"sensor_fps": 30.0,
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"motion_threshold": 0.0,
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"sensor_cpu": true,
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"port": "/dev/ttyUSB0",
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"slave_id": 1,
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"baudrate": 115200,
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"serial_timeout": 0.2,
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"open_pos": 0,
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"close_pos": 9000,
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"speed": 50,
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"accel": 80,
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"decel": 80,
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"release_open_speed": 50,
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"release_open_accel": 120,
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"release_open_decel": 120,
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"open_force": 20,
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"close_force": 20,
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"grip_start_force": 20,
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"hold_force": 20,
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"initial_force": 20,
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"force_min": 20,
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"force_max": 80,
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"control_hz": 30.0,
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"baseline_seconds": 1.0,
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"filter_alpha": 0.55,
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"shear_filter_alpha": 0.65,
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"trigger_normal_force": 0.1,
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"trigger_shear_force": 0.1,
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"trigger_clear_stable_seconds": 0.2,
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"open_wait_stable_samples": 12,
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"open_wait_stable_range_n": 0.03,
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"open_wait_stable_trend_n": 0.015,
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"grip_normal_force": 0.2,
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"grip_requires_both": true,
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"close_timeout_seconds": 5.0,
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"closing_command_interval": 0.2,
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"force_ramp_step": 5,
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"force_ramp_interval": 0.02,
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"grip_settle_seconds": 0.05,
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"adaptive_grip_enabled": true,
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"adaptive_shear_start_force": 0.1,
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"adaptive_shear_full_force": 0.6,
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"adaptive_force_min": 15,
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"adaptive_force_max": 80,
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"adaptive_force_step": 1,
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"adaptive_force_interval": 0.05,
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"release_arm_delay_seconds": 0.8,
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"release_normal_change": 0.2,
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"release_shear_change": 0.2,
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"rearm_seconds": 0.5,
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"recover_normal_force": 0.02,
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"recover_shear_force": 0.02,
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"recover_stable_seconds": 0.4,
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"open_position_recover_enabled": true,
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"open_position_tolerance": 100,
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"open_position_stable_seconds": 0.1,
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"open_position_check_interval": 0.1,
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"hold_fallback_pos": null,
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"trigger_force_update": false,
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"open_at_end": true,
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"dry_run": false,
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"normal_force_calibration": {
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"enabled": true,
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"method": "piecewise_linear",
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"extrapolate": true,
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"clamp_output_min": 0.0,
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"points": [
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{
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"fnormal": 1000.0,
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"force_n": 0.0
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},
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{
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"fnormal": 10000.0,
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"force_n": 0.377
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},
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{
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"fnormal": 30000.0,
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"force_n": 1.377
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},
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{
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"fnormal": 62000.0,
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"force_n": 2.377
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}
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]
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},
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"shear_force_calibration": {
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"enabled": true,
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"method": "piecewise_linear",
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"input": "components",
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"signed": true,
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"extrapolate": true,
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"clamp_output_min": 0.0,
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"points": [
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{
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"raw": 1000.0,
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"force_n": 0.0
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},
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{
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"raw": 36000.0,
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"force_n": 1.19
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},
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{
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"raw": 68000.0,
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"force_n": 2.06
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}
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]
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}
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}
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@@ -0,0 +1,70 @@
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{
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"version": 1,
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"window": {
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"geometry": {
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"x": 995,
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"y": 309,
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"width": 693,
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"height": 480
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},
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"fullscreen": false,
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"maximized": true
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},
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"workspace": {
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"overlays": {
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"left_flow": {
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"x": 0.0,
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"y": 0.00365,
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"width": 0.203664,
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"height": 0.509732
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},
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"right_flow": {
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"x": 0.197198,
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"y": 0.00365,
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"width": 0.203664,
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"height": 0.509732
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},
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"plot": {
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"x": 0.668103,
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"y": 0.013382,
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"width": 0.331897,
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"height": 0.538929
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},
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"gripper": {
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"x": 0.0,
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"y": 0.673966,
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"width": 0.445043,
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"height": 0.326034
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},
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"sensor": {
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"x": 0.672414,
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"y": 0.588808,
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"width": 0.327586,
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"height": 0.26399
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}
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},
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"camera": {
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"center": [
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-0.09715325385332108,
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0.34968793392181396,
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0.0
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],
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"distance": 1.2374338909330567,
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"elevation": 9.0,
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"azimuth": -81.0,
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"fov": 60.0
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}
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},
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"visual_transforms": {
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"left": {
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"rotation_angle": 270,
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"flip_x": false,
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"flip_y": false
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},
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"right": {
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"rotation_angle": 90,
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"flip_x": false,
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"flip_y": true
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}
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}
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}
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