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"shape": [ | |
7 | |
], | |
"continuous": true | |
}, | |
"left_hand": { | |
"absolute": true, | |
"rotation_type": null, | |
"shape": [ | |
6 | |
], | |
"continuous": true | |
}, | |
"left_leg": { | |
"absolute": true, | |
"rotation_type": null, | |
"shape": [ | |
6 | |
], | |
"continuous": true | |
}, | |
"neck": { | |
"absolute": true, | |
"rotation_type": null, | |
"shape": [ | |
3 | |
], | |
"continuous": true | |
}, | |
"right_arm": { | |
"absolute": true, | |
"rotation_type": null, | |
"shape": [ | |
7 | |
], | |
"continuous": true | |
}, | |
"right_hand": { | |
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"rotation_type": null, | |
"shape": [ | |
6 | |
], | |
"continuous": true | |
}, | |
"right_leg": { | |
"absolute": true, | |
"rotation_type": null, | |
"shape": [ | |
6 | |
], | |
"continuous": true | |
}, | |
"waist": { | |
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"rotation_type": null, | |
"shape": [ | |
3 | |
], | |
"continuous": true | |
} | |
}, | |
"action": { | |
"left_arm": { | |
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"shape": [ | |
7 | |
], | |
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}, | |
"left_hand": { | |
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6 | |
], | |
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}, | |
"left_leg": { | |
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"shape": [ | |
6 | |
], | |
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}, | |
"neck": { | |
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"shape": [ | |
3 | |
], | |
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}, | |
"right_arm": { | |
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"shape": [ | |
7 | |
], | |
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}, | |
"right_hand": { | |
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6 | |
], | |
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}, | |
"right_leg": { | |
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"shape": [ | |
6 | |
], | |
"continuous": true | |
}, | |
"waist": { | |
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"shape": [ | |
3 | |
], | |
"continuous": true | |
} | |
} | |
}, | |
"embodiment_tag": "gr1" | |
} | |
} | |