Physical Constraints Types
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![Physical Constraints Types [1810.00140] Inferring geometric constraints in human demonstrations](https://ar5iv.labs.arxiv.org/html/1810.00140/assets/figures/constraint_types.png)

































































![Physical Constraints Types [2010.15916] A Method for Constraint Inference Using Pose and Wrench ...](https://ar5iv.labs.arxiv.org/html/2010.15916/assets/x3.png)


























