Datasets:
Sraghvi
/
buster-robot-dataset-v2

Dataset card Data Studio Files
xet
Community
action
listlengths
34
34
observation.state
listlengths
34
34
isaac_commands
listlengths
34
34
timestamp
float64
0
12.6
frame_index
int64
0
326
episode_index
int64
0
0
index
int64
0
326
task_index
int64
0
0
joint_names
listlengths
34
34
joint_velocities
listlengths
34
34
action.left_arm_wrist_2_joint
float64
-3.15
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action.left_arm_3f_finger_c_joint_1
float64
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action.right_arm_3f_palm_finger_b_joint
float64
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0
action.left_arm_3f_finger_a_joint_3
float64
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action.right_arm_wrist_3_joint
float64
0
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action.left_arm_elbow_joint
float64
0
0
action.right_arm_3f_finger_b_joint_2
float64
0.05
0.05
action.left_arm_shoulder_lift_joint
float64
0
0
action.right_arm_3f_finger_c_joint_2
float64
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action.left_arm_3f_palm_finger_c_joint
float64
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0
action.right_arm_3f_finger_a_joint_2
float64
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0.05
action.right_arm_3f_finger_b_joint_1
float64
0
0
action.right_arm_3f_finger_b_joint_3
float64
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action.right_arm_3f_finger_a_joint_1
float64
0
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action.right_arm_3f_finger_c_joint_1
float64
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action.right_arm_3f_finger_a_joint_3
float64
0
0
action.left_arm_3f_finger_b_joint_3
float64
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action.right_arm_shoulder_lift_joint
float64
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action.right_arm_shoulder_pan_joint
float64
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action.right_arm_wrist_2_joint
float64
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action.right_arm_elbow_joint
float64
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action.left_arm_3f_finger_c_joint_3
float64
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action.left_arm_shoulder_pan_joint
float64
-0
0
action.left_arm_3f_finger_c_joint_2
float64
0.05
0.05
action.right_arm_3f_finger_c_joint_3
float64
0
0
action.right_arm_3f_palm_finger_c_joint
float64
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-0.05
action.left_arm_3f_finger_b_joint_2
float64
-0
-0
action.left_arm_3f_finger_b_joint_1
float64
0.05
0.05
action.left_arm_3f_palm_finger_b_joint
float64
0
0
action.left_arm_3f_finger_a_joint_2
float64
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-0.05
action.left_arm_3f_finger_a_joint_1
float64
-0
-0
action.left_arm_wrist_1_joint
float64
0.05
0.05
action.right_arm_wrist_1_joint
float64
0
0
action.left_arm_wrist_3_joint
float64
-0.05
-0.05
observation.state.left_arm_wrist_2_joint
float64
-3.15
3.23
observation.state.left_arm_3f_finger_c_joint_1
float64
-1.44
0.05
observation.state.right_arm_3f_palm_finger_b_joint
float64
-3.15
0
observation.state.left_arm_3f_finger_a_joint_3
float64
-0.05
0
observation.state.right_arm_wrist_3_joint
float64
-0
0
observation.state.left_arm_elbow_joint
float64
-0
0
observation.state.right_arm_3f_finger_b_joint_2
float64
-0.96
0
observation.state.left_arm_shoulder_lift_joint
float64
-3.15
0
observation.state.right_arm_3f_finger_c_joint_2
float64
-0
3.23
observation.state.left_arm_3f_palm_finger_c_joint
float64
-0
1.99
observation.state.right_arm_3f_finger_a_joint_2
float64
-0
0
observation.state.right_arm_3f_finger_b_joint_1
float64
-0
0.05
observation.state.right_arm_3f_finger_b_joint_3
float64
-0.05
0
observation.state.right_arm_3f_finger_a_joint_1
float64
-0
0.05
observation.state.right_arm_3f_finger_c_joint_1
float64
-0
0.05
observation.state.right_arm_3f_finger_a_joint_3
float64
-0.05
0
observation.state.left_arm_3f_finger_b_joint_3
float64
-0.05
0.05
observation.state.right_arm_shoulder_lift_joint
float64
-0
0.05
observation.state.right_arm_shoulder_pan_joint
float64
-1.44
0.05
observation.state.right_arm_wrist_2_joint
float64
0
1.99
observation.state.right_arm_elbow_joint
float64
-0
0.05
observation.state.left_arm_3f_finger_c_joint_3
float64
-0.05
0.05
observation.state.left_arm_shoulder_pan_joint
float64
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0
observation.state.left_arm_3f_finger_c_joint_2
float64
-0
0
observation.state.right_arm_3f_finger_c_joint_3
float64
-0.05
0
observation.state.right_arm_3f_palm_finger_c_joint
float64
-0
0
observation.state.left_arm_3f_finger_b_joint_2
float64
-0
0
observation.state.left_arm_3f_finger_b_joint_1
float64
-0
0.05
observation.state.left_arm_3f_palm_finger_b_joint
float64
-0.05
0
observation.state.left_arm_3f_finger_a_joint_2
float64
-0.05
0
observation.state.left_arm_3f_finger_a_joint_1
float64
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0.05
observation.state.left_arm_wrist_1_joint
float64
-0.96
-0
observation.state.right_arm_wrist_1_joint
float64
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0
observation.state.left_arm_wrist_3_joint
float64
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0
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0
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[ "left_arm_wrist_2_joint", "left_arm_3f_finger_c_joint_1", "right_arm_3f_palm_finger_b_joint", "left_arm_3f_finger_a_joint_3", "right_arm_wrist_3_joint", "left_arm_elbow_joint", "right_arm_3f_finger_b_joint_2", "left_arm_shoulder_lift_joint", "right_arm_3f_finger_c_joint_2", "left_arm_3f_palm_finger_c_joint", "right_arm_3f_finger_a_joint_2", "right_arm_3f_finger_b_joint_1", "right_arm_3f_finger_b_joint_3", "right_arm_3f_finger_a_joint_1", "right_arm_3f_finger_c_joint_1", "right_arm_3f_finger_a_joint_3", "left_arm_3f_finger_b_joint_3", "right_arm_shoulder_lift_joint", "right_arm_shoulder_pan_joint", "right_arm_wrist_2_joint", "right_arm_elbow_joint", "left_arm_3f_finger_c_joint_3", "left_arm_shoulder_pan_joint", "left_arm_3f_finger_c_joint_2", "right_arm_3f_finger_c_joint_3", "right_arm_3f_palm_finger_c_joint", "left_arm_3f_finger_b_joint_2", "left_arm_3f_finger_b_joint_1", "left_arm_3f_palm_finger_b_joint", "left_arm_3f_finger_a_joint_2", "left_arm_3f_finger_a_joint_1", "left_arm_wrist_1_joint", "right_arm_wrist_1_joint", "left_arm_wrist_3_joint" ]
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0.02674
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[ "left_arm_shoulder_pan_joint", "right_arm_shoulder_pan_joint", "left_arm_shoulder_lift_joint", "right_arm_shoulder_lift_joint", "left_arm_elbow_joint", "right_arm_elbow_joint", "left_arm_wrist_1_joint", "right_arm_wrist_1_joint", "left_arm_wrist_2_joint", "right_arm_wrist_2_joint", "left_arm_wrist_3_joint", "right_arm_wrist_3_joint", "left_arm_3f_palm_finger_b_joint", "left_arm_3f_palm_finger_c_joint", "right_arm_3f_palm_finger_b_joint", "right_arm_3f_palm_finger_c_joint", "left_arm_3f_finger_a_joint_1", "left_arm_3f_finger_b_joint_1", "left_arm_3f_finger_c_joint_1", "right_arm_3f_finger_a_joint_1", "right_arm_3f_finger_b_joint_1", "right_arm_3f_finger_c_joint_1", "left_arm_3f_finger_a_joint_2", "left_arm_3f_finger_b_joint_2", "left_arm_3f_finger_c_joint_2", "right_arm_3f_finger_a_joint_2", "right_arm_3f_finger_b_joint_2", "right_arm_3f_finger_c_joint_2", "left_arm_3f_finger_a_joint_3", "left_arm_3f_finger_b_joint_3", "left_arm_3f_finger_c_joint_3", "right_arm_3f_finger_a_joint_3", "right_arm_3f_finger_b_joint_3", "right_arm_3f_finger_c_joint_3" ]
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[ "left_arm_shoulder_pan_joint", "right_arm_shoulder_pan_joint", "left_arm_shoulder_lift_joint", "right_arm_shoulder_lift_joint", "left_arm_elbow_joint", "right_arm_elbow_joint", "left_arm_wrist_1_joint", "right_arm_wrist_1_joint", "left_arm_wrist_2_joint", "right_arm_wrist_2_joint", "left_arm_wrist_3_joint", "right_arm_wrist_3_joint", "left_arm_3f_palm_finger_b_joint", "left_arm_3f_palm_finger_c_joint", "right_arm_3f_palm_finger_b_joint", "right_arm_3f_palm_finger_c_joint", "left_arm_3f_finger_a_joint_1", "left_arm_3f_finger_b_joint_1", "left_arm_3f_finger_c_joint_1", "right_arm_3f_finger_a_joint_1", "right_arm_3f_finger_b_joint_1", "right_arm_3f_finger_c_joint_1", "left_arm_3f_finger_a_joint_2", "left_arm_3f_finger_b_joint_2", "left_arm_3f_finger_c_joint_2", "right_arm_3f_finger_a_joint_2", "right_arm_3f_finger_b_joint_2", "right_arm_3f_finger_c_joint_2", "left_arm_3f_finger_a_joint_3", "left_arm_3f_finger_b_joint_3", "left_arm_3f_finger_c_joint_3", "right_arm_3f_finger_a_joint_3", "right_arm_3f_finger_b_joint_3", "right_arm_3f_finger_c_joint_3" ]
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0.089508
3
0
3
0
[ "left_arm_wrist_2_joint", "left_arm_3f_finger_c_joint_1", "right_arm_3f_palm_finger_b_joint", "left_arm_3f_finger_a_joint_3", "right_arm_wrist_3_joint", "left_arm_elbow_joint", "right_arm_3f_finger_b_joint_2", "left_arm_shoulder_lift_joint", "right_arm_3f_finger_c_joint_2", "left_arm_3f_palm_finger_c_joint", "right_arm_3f_finger_a_joint_2", "right_arm_3f_finger_b_joint_1", "right_arm_3f_finger_b_joint_3", "right_arm_3f_finger_a_joint_1", "right_arm_3f_finger_c_joint_1", "right_arm_3f_finger_a_joint_3", "left_arm_3f_finger_b_joint_3", "right_arm_shoulder_lift_joint", "right_arm_shoulder_pan_joint", "right_arm_wrist_2_joint", "right_arm_elbow_joint", "left_arm_3f_finger_c_joint_3", "left_arm_shoulder_pan_joint", "left_arm_3f_finger_c_joint_2", "right_arm_3f_finger_c_joint_3", "right_arm_3f_palm_finger_c_joint", "left_arm_3f_finger_b_joint_2", "left_arm_3f_finger_b_joint_1", "left_arm_3f_palm_finger_b_joint", "left_arm_3f_finger_a_joint_2", "left_arm_3f_finger_a_joint_1", "left_arm_wrist_1_joint", "right_arm_wrist_1_joint", "left_arm_wrist_3_joint" ]
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0.117085
4
0
4
0
[ "left_arm_shoulder_pan_joint", "right_arm_shoulder_pan_joint", "left_arm_shoulder_lift_joint", "right_arm_shoulder_lift_joint", "left_arm_elbow_joint", "right_arm_elbow_joint", "left_arm_wrist_1_joint", "right_arm_wrist_1_joint", "left_arm_wrist_2_joint", "right_arm_wrist_2_joint", "left_arm_wrist_3_joint", "right_arm_wrist_3_joint", "left_arm_3f_palm_finger_b_joint", "left_arm_3f_palm_finger_c_joint", "right_arm_3f_palm_finger_b_joint", "right_arm_3f_palm_finger_c_joint", "left_arm_3f_finger_a_joint_1", "left_arm_3f_finger_b_joint_1", "left_arm_3f_finger_c_joint_1", "right_arm_3f_finger_a_joint_1", "right_arm_3f_finger_b_joint_1", "right_arm_3f_finger_c_joint_1", "left_arm_3f_finger_a_joint_2", "left_arm_3f_finger_b_joint_2", "left_arm_3f_finger_c_joint_2", "right_arm_3f_finger_a_joint_2", "right_arm_3f_finger_b_joint_2", "right_arm_3f_finger_c_joint_2", "left_arm_3f_finger_a_joint_3", "left_arm_3f_finger_b_joint_3", "left_arm_3f_finger_c_joint_3", "right_arm_3f_finger_a_joint_3", "right_arm_3f_finger_b_joint_3", "right_arm_3f_finger_c_joint_3" ]
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0.145449
5
0
5
0
[ "left_arm_shoulder_pan_joint", "right_arm_shoulder_pan_joint", "left_arm_shoulder_lift_joint", "right_arm_shoulder_lift_joint", "left_arm_elbow_joint", "right_arm_elbow_joint", "left_arm_wrist_1_joint", "right_arm_wrist_1_joint", "left_arm_wrist_2_joint", "right_arm_wrist_2_joint", "left_arm_wrist_3_joint", "right_arm_wrist_3_joint", "left_arm_3f_palm_finger_b_joint", "left_arm_3f_palm_finger_c_joint", "right_arm_3f_palm_finger_b_joint", "right_arm_3f_palm_finger_c_joint", "left_arm_3f_finger_a_joint_1", "left_arm_3f_finger_b_joint_1", "left_arm_3f_finger_c_joint_1", "right_arm_3f_finger_a_joint_1", "right_arm_3f_finger_b_joint_1", "right_arm_3f_finger_c_joint_1", "left_arm_3f_finger_a_joint_2", "left_arm_3f_finger_b_joint_2", "left_arm_3f_finger_c_joint_2", "right_arm_3f_finger_a_joint_2", "right_arm_3f_finger_b_joint_2", "right_arm_3f_finger_c_joint_2", "left_arm_3f_finger_a_joint_3", "left_arm_3f_finger_b_joint_3", "left_arm_3f_finger_c_joint_3", "right_arm_3f_finger_a_joint_3", "right_arm_3f_finger_b_joint_3", "right_arm_3f_finger_c_joint_3" ]
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0.167703
6
0
6
0
[ "left_arm_shoulder_pan_joint", "right_arm_shoulder_pan_joint", "left_arm_shoulder_lift_joint", "right_arm_shoulder_lift_joint", "left_arm_elbow_joint", "right_arm_elbow_joint", "left_arm_wrist_1_joint", "right_arm_wrist_1_joint", "left_arm_wrist_2_joint", "right_arm_wrist_2_joint", "left_arm_wrist_3_joint", "right_arm_wrist_3_joint", "left_arm_3f_palm_finger_b_joint", "left_arm_3f_palm_finger_c_joint", "right_arm_3f_palm_finger_b_joint", "right_arm_3f_palm_finger_c_joint", "left_arm_3f_finger_a_joint_1", "left_arm_3f_finger_b_joint_1", "left_arm_3f_finger_c_joint_1", "right_arm_3f_finger_a_joint_1", "right_arm_3f_finger_b_joint_1", "right_arm_3f_finger_c_joint_1", "left_arm_3f_finger_a_joint_2", "left_arm_3f_finger_b_joint_2", "left_arm_3f_finger_c_joint_2", "right_arm_3f_finger_a_joint_2", "right_arm_3f_finger_b_joint_2", "right_arm_3f_finger_c_joint_2", "left_arm_3f_finger_a_joint_3", "left_arm_3f_finger_b_joint_3", "left_arm_3f_finger_c_joint_3", "right_arm_3f_finger_a_joint_3", "right_arm_3f_finger_b_joint_3", "right_arm_3f_finger_c_joint_3" ]
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0.19529
7
0
7
0
[ "left_arm_shoulder_pan_joint", "right_arm_shoulder_pan_joint", "left_arm_shoulder_lift_joint", "right_arm_shoulder_lift_joint", "left_arm_elbow_joint", "right_arm_elbow_joint", "left_arm_wrist_1_joint", "right_arm_wrist_1_joint", "left_arm_wrist_2_joint", "right_arm_wrist_2_joint", "left_arm_wrist_3_joint", "right_arm_wrist_3_joint", "left_arm_3f_palm_finger_b_joint", "left_arm_3f_palm_finger_c_joint", "right_arm_3f_palm_finger_b_joint", "right_arm_3f_palm_finger_c_joint", "left_arm_3f_finger_a_joint_1", "left_arm_3f_finger_b_joint_1", "left_arm_3f_finger_c_joint_1", "right_arm_3f_finger_a_joint_1", "right_arm_3f_finger_b_joint_1", "right_arm_3f_finger_c_joint_1", "left_arm_3f_finger_a_joint_2", "left_arm_3f_finger_b_joint_2", "left_arm_3f_finger_c_joint_2", "right_arm_3f_finger_a_joint_2", "right_arm_3f_finger_b_joint_2", "right_arm_3f_finger_c_joint_2", "left_arm_3f_finger_a_joint_3", "left_arm_3f_finger_b_joint_3", "left_arm_3f_finger_c_joint_3", "right_arm_3f_finger_a_joint_3", "right_arm_3f_finger_b_joint_3", "right_arm_3f_finger_c_joint_3" ]
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0.216749
8
0
8
0
[ "left_arm_wrist_2_joint", "left_arm_3f_finger_c_joint_1", "right_arm_3f_palm_finger_b_joint", "left_arm_3f_finger_a_joint_3", "right_arm_wrist_3_joint", "left_arm_elbow_joint", "right_arm_3f_finger_b_joint_2", "left_arm_shoulder_lift_joint", "right_arm_3f_finger_c_joint_2", "left_arm_3f_palm_finger_c_joint", "right_arm_3f_finger_a_joint_2", "right_arm_3f_finger_b_joint_1", "right_arm_3f_finger_b_joint_3", "right_arm_3f_finger_a_joint_1", "right_arm_3f_finger_c_joint_1", "right_arm_3f_finger_a_joint_3", "left_arm_3f_finger_b_joint_3", "right_arm_shoulder_lift_joint", "right_arm_shoulder_pan_joint", "right_arm_wrist_2_joint", "right_arm_elbow_joint", "left_arm_3f_finger_c_joint_3", "left_arm_shoulder_pan_joint", "left_arm_3f_finger_c_joint_2", "right_arm_3f_finger_c_joint_3", "right_arm_3f_palm_finger_c_joint", "left_arm_3f_finger_b_joint_2", "left_arm_3f_finger_b_joint_1", "left_arm_3f_palm_finger_b_joint", "left_arm_3f_finger_a_joint_2", "left_arm_3f_finger_a_joint_1", "left_arm_wrist_1_joint", "right_arm_wrist_1_joint", "left_arm_wrist_3_joint" ]
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0.245374
9
0
9
0
[ "left_arm_shoulder_pan_joint", "right_arm_shoulder_pan_joint", "left_arm_shoulder_lift_joint", "right_arm_shoulder_lift_joint", "left_arm_elbow_joint", "right_arm_elbow_joint", "left_arm_wrist_1_joint", "right_arm_wrist_1_joint", "left_arm_wrist_2_joint", "right_arm_wrist_2_joint", "left_arm_wrist_3_joint", "right_arm_wrist_3_joint", "left_arm_3f_palm_finger_b_joint", "left_arm_3f_palm_finger_c_joint", "right_arm_3f_palm_finger_b_joint", "right_arm_3f_palm_finger_c_joint", "left_arm_3f_finger_a_joint_1", "left_arm_3f_finger_b_joint_1", "left_arm_3f_finger_c_joint_1", "right_arm_3f_finger_a_joint_1", "right_arm_3f_finger_b_joint_1", "right_arm_3f_finger_c_joint_1", "left_arm_3f_finger_a_joint_2", "left_arm_3f_finger_b_joint_2", "left_arm_3f_finger_c_joint_2", "right_arm_3f_finger_a_joint_2", "right_arm_3f_finger_b_joint_2", "right_arm_3f_finger_c_joint_2", "left_arm_3f_finger_a_joint_3", "left_arm_3f_finger_b_joint_3", "left_arm_3f_finger_c_joint_3", "right_arm_3f_finger_a_joint_3", "right_arm_3f_finger_b_joint_3", "right_arm_3f_finger_c_joint_3" ]
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0.268789
10
0
10
0
[ "left_arm_wrist_2_joint", "left_arm_3f_finger_c_joint_1", "right_arm_3f_palm_finger_b_joint", "left_arm_3f_finger_a_joint_3", "right_arm_wrist_3_joint", "left_arm_elbow_joint", "right_arm_3f_finger_b_joint_2", "left_arm_shoulder_lift_joint", "right_arm_3f_finger_c_joint_2", "left_arm_3f_palm_finger_c_joint", "right_arm_3f_finger_a_joint_2", "right_arm_3f_finger_b_joint_1", "right_arm_3f_finger_b_joint_3", "right_arm_3f_finger_a_joint_1", "right_arm_3f_finger_c_joint_1", "right_arm_3f_finger_a_joint_3", "left_arm_3f_finger_b_joint_3", "right_arm_shoulder_lift_joint", "right_arm_shoulder_pan_joint", "right_arm_wrist_2_joint", "right_arm_elbow_joint", "left_arm_3f_finger_c_joint_3", "left_arm_shoulder_pan_joint", "left_arm_3f_finger_c_joint_2", "right_arm_3f_finger_c_joint_3", "right_arm_3f_palm_finger_c_joint", "left_arm_3f_finger_b_joint_2", "left_arm_3f_finger_b_joint_1", "left_arm_3f_palm_finger_b_joint", "left_arm_3f_finger_a_joint_2", "left_arm_3f_finger_a_joint_1", "left_arm_wrist_1_joint", "right_arm_wrist_1_joint", "left_arm_wrist_3_joint" ]
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0.296777
11
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11
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[ "left_arm_shoulder_pan_joint", "right_arm_shoulder_pan_joint", "left_arm_shoulder_lift_joint", "right_arm_shoulder_lift_joint", "left_arm_elbow_joint", "right_arm_elbow_joint", "left_arm_wrist_1_joint", "right_arm_wrist_1_joint", "left_arm_wrist_2_joint", "right_arm_wrist_2_joint", "left_arm_wrist_3_joint", "right_arm_wrist_3_joint", "left_arm_3f_palm_finger_b_joint", "left_arm_3f_palm_finger_c_joint", "right_arm_3f_palm_finger_b_joint", "right_arm_3f_palm_finger_c_joint", "left_arm_3f_finger_a_joint_1", "left_arm_3f_finger_b_joint_1", "left_arm_3f_finger_c_joint_1", "right_arm_3f_finger_a_joint_1", "right_arm_3f_finger_b_joint_1", "right_arm_3f_finger_c_joint_1", "left_arm_3f_finger_a_joint_2", "left_arm_3f_finger_b_joint_2", "left_arm_3f_finger_c_joint_2", "right_arm_3f_finger_a_joint_2", "right_arm_3f_finger_b_joint_2", "right_arm_3f_finger_c_joint_2", "left_arm_3f_finger_a_joint_3", "left_arm_3f_finger_b_joint_3", "left_arm_3f_finger_c_joint_3", "right_arm_3f_finger_a_joint_3", "right_arm_3f_finger_b_joint_3", "right_arm_3f_finger_c_joint_3" ]
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0.322814
12
0
12
0
[ "left_arm_shoulder_pan_joint", "right_arm_shoulder_pan_joint", "left_arm_shoulder_lift_joint", "right_arm_shoulder_lift_joint", "left_arm_elbow_joint", "right_arm_elbow_joint", "left_arm_wrist_1_joint", "right_arm_wrist_1_joint", "left_arm_wrist_2_joint", "right_arm_wrist_2_joint", "left_arm_wrist_3_joint", "right_arm_wrist_3_joint", "left_arm_3f_palm_finger_b_joint", "left_arm_3f_palm_finger_c_joint", "right_arm_3f_palm_finger_b_joint", "right_arm_3f_palm_finger_c_joint", "left_arm_3f_finger_a_joint_1", "left_arm_3f_finger_b_joint_1", "left_arm_3f_finger_c_joint_1", "right_arm_3f_finger_a_joint_1", "right_arm_3f_finger_b_joint_1", "right_arm_3f_finger_c_joint_1", "left_arm_3f_finger_a_joint_2", "left_arm_3f_finger_b_joint_2", "left_arm_3f_finger_c_joint_2", "right_arm_3f_finger_a_joint_2", "right_arm_3f_finger_b_joint_2", "right_arm_3f_finger_c_joint_2", "left_arm_3f_finger_a_joint_3", "left_arm_3f_finger_b_joint_3", "left_arm_3f_finger_c_joint_3", "right_arm_3f_finger_a_joint_3", "right_arm_3f_finger_b_joint_3", "right_arm_3f_finger_c_joint_3" ]
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0.349475
13
0
13
0
[ "left_arm_wrist_2_joint", "left_arm_3f_finger_c_joint_1", "right_arm_3f_palm_finger_b_joint", "left_arm_3f_finger_a_joint_3", "right_arm_wrist_3_joint", "left_arm_elbow_joint", "right_arm_3f_finger_b_joint_2", "left_arm_shoulder_lift_joint", "right_arm_3f_finger_c_joint_2", "left_arm_3f_palm_finger_c_joint", "right_arm_3f_finger_a_joint_2", "right_arm_3f_finger_b_joint_1", "right_arm_3f_finger_b_joint_3", "right_arm_3f_finger_a_joint_1", "right_arm_3f_finger_c_joint_1", "right_arm_3f_finger_a_joint_3", "left_arm_3f_finger_b_joint_3", "right_arm_shoulder_lift_joint", "right_arm_shoulder_pan_joint", "right_arm_wrist_2_joint", "right_arm_elbow_joint", "left_arm_3f_finger_c_joint_3", "left_arm_shoulder_pan_joint", "left_arm_3f_finger_c_joint_2", "right_arm_3f_finger_c_joint_3", "right_arm_3f_palm_finger_c_joint", "left_arm_3f_finger_b_joint_2", "left_arm_3f_finger_b_joint_1", "left_arm_3f_palm_finger_b_joint", "left_arm_3f_finger_a_joint_2", "left_arm_3f_finger_a_joint_1", "left_arm_wrist_1_joint", "right_arm_wrist_1_joint", "left_arm_wrist_3_joint" ]
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0.375991
14
0
14
0
[ "left_arm_shoulder_pan_joint", "right_arm_shoulder_pan_joint", "left_arm_shoulder_lift_joint", "right_arm_shoulder_lift_joint", "left_arm_elbow_joint", "right_arm_elbow_joint", "left_arm_wrist_1_joint", "right_arm_wrist_1_joint", "left_arm_wrist_2_joint", "right_arm_wrist_2_joint", "left_arm_wrist_3_joint", "right_arm_wrist_3_joint", "left_arm_3f_palm_finger_b_joint", "left_arm_3f_palm_finger_c_joint", "right_arm_3f_palm_finger_b_joint", "right_arm_3f_palm_finger_c_joint", "left_arm_3f_finger_a_joint_1", "left_arm_3f_finger_b_joint_1", "left_arm_3f_finger_c_joint_1", "right_arm_3f_finger_a_joint_1", "right_arm_3f_finger_b_joint_1", "right_arm_3f_finger_c_joint_1", "left_arm_3f_finger_a_joint_2", "left_arm_3f_finger_b_joint_2", "left_arm_3f_finger_c_joint_2", "right_arm_3f_finger_a_joint_2", "right_arm_3f_finger_b_joint_2", "right_arm_3f_finger_c_joint_2", "left_arm_3f_finger_a_joint_3", "left_arm_3f_finger_b_joint_3", "left_arm_3f_finger_c_joint_3", "right_arm_3f_finger_a_joint_3", "right_arm_3f_finger_b_joint_3", "right_arm_3f_finger_c_joint_3" ]
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0.41264
15
0
15
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[ "left_arm_shoulder_pan_joint", "right_arm_shoulder_pan_joint", "left_arm_shoulder_lift_joint", "right_arm_shoulder_lift_joint", "left_arm_elbow_joint", "right_arm_elbow_joint", "left_arm_wrist_1_joint", "right_arm_wrist_1_joint", "left_arm_wrist_2_joint", "right_arm_wrist_2_joint", "left_arm_wrist_3_joint", "right_arm_wrist_3_joint", "left_arm_3f_palm_finger_b_joint", "left_arm_3f_palm_finger_c_joint", "right_arm_3f_palm_finger_b_joint", "right_arm_3f_palm_finger_c_joint", "left_arm_3f_finger_a_joint_1", "left_arm_3f_finger_b_joint_1", "left_arm_3f_finger_c_joint_1", "right_arm_3f_finger_a_joint_1", "right_arm_3f_finger_b_joint_1", "right_arm_3f_finger_c_joint_1", "left_arm_3f_finger_a_joint_2", "left_arm_3f_finger_b_joint_2", "left_arm_3f_finger_c_joint_2", "right_arm_3f_finger_a_joint_2", "right_arm_3f_finger_b_joint_2", "right_arm_3f_finger_c_joint_2", "left_arm_3f_finger_a_joint_3", "left_arm_3f_finger_b_joint_3", "left_arm_3f_finger_c_joint_3", "right_arm_3f_finger_a_joint_3", "right_arm_3f_finger_b_joint_3", "right_arm_3f_finger_c_joint_3" ]
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0.437367
16
0
16
0
[ "left_arm_shoulder_pan_joint", "right_arm_shoulder_pan_joint", "left_arm_shoulder_lift_joint", "right_arm_shoulder_lift_joint", "left_arm_elbow_joint", "right_arm_elbow_joint", "left_arm_wrist_1_joint", "right_arm_wrist_1_joint", "left_arm_wrist_2_joint", "right_arm_wrist_2_joint", "left_arm_wrist_3_joint", "right_arm_wrist_3_joint", "left_arm_3f_palm_finger_b_joint", "left_arm_3f_palm_finger_c_joint", "right_arm_3f_palm_finger_b_joint", "right_arm_3f_palm_finger_c_joint", "left_arm_3f_finger_a_joint_1", "left_arm_3f_finger_b_joint_1", "left_arm_3f_finger_c_joint_1", "right_arm_3f_finger_a_joint_1", "right_arm_3f_finger_b_joint_1", "right_arm_3f_finger_c_joint_1", "left_arm_3f_finger_a_joint_2", "left_arm_3f_finger_b_joint_2", "left_arm_3f_finger_c_joint_2", "right_arm_3f_finger_a_joint_2", "right_arm_3f_finger_b_joint_2", "right_arm_3f_finger_c_joint_2", "left_arm_3f_finger_a_joint_3", "left_arm_3f_finger_b_joint_3", "left_arm_3f_finger_c_joint_3", "right_arm_3f_finger_a_joint_3", "right_arm_3f_finger_b_joint_3", "right_arm_3f_finger_c_joint_3" ]
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0.463974
17
0
17
0
[ "left_arm_shoulder_pan_joint", "right_arm_shoulder_pan_joint", "left_arm_shoulder_lift_joint", "right_arm_shoulder_lift_joint", "left_arm_elbow_joint", "right_arm_elbow_joint", "left_arm_wrist_1_joint", "right_arm_wrist_1_joint", "left_arm_wrist_2_joint", "right_arm_wrist_2_joint", "left_arm_wrist_3_joint", "right_arm_wrist_3_joint", "left_arm_3f_palm_finger_b_joint", "left_arm_3f_palm_finger_c_joint", "right_arm_3f_palm_finger_b_joint", "right_arm_3f_palm_finger_c_joint", "left_arm_3f_finger_a_joint_1", "left_arm_3f_finger_b_joint_1", "left_arm_3f_finger_c_joint_1", "right_arm_3f_finger_a_joint_1", "right_arm_3f_finger_b_joint_1", "right_arm_3f_finger_c_joint_1", "left_arm_3f_finger_a_joint_2", "left_arm_3f_finger_b_joint_2", "left_arm_3f_finger_c_joint_2", "right_arm_3f_finger_a_joint_2", "right_arm_3f_finger_b_joint_2", "right_arm_3f_finger_c_joint_2", "left_arm_3f_finger_a_joint_3", "left_arm_3f_finger_b_joint_3", "left_arm_3f_finger_c_joint_3", "right_arm_3f_finger_a_joint_3", "right_arm_3f_finger_b_joint_3", "right_arm_3f_finger_c_joint_3" ]
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0.488647
18
0
18
0
[ "left_arm_wrist_2_joint", "left_arm_3f_finger_c_joint_1", "right_arm_3f_palm_finger_b_joint", "left_arm_3f_finger_a_joint_3", "right_arm_wrist_3_joint", "left_arm_elbow_joint", "right_arm_3f_finger_b_joint_2", "left_arm_shoulder_lift_joint", "right_arm_3f_finger_c_joint_2", "left_arm_3f_palm_finger_c_joint", "right_arm_3f_finger_a_joint_2", "right_arm_3f_finger_b_joint_1", "right_arm_3f_finger_b_joint_3", "right_arm_3f_finger_a_joint_1", "right_arm_3f_finger_c_joint_1", "right_arm_3f_finger_a_joint_3", "left_arm_3f_finger_b_joint_3", "right_arm_shoulder_lift_joint", "right_arm_shoulder_pan_joint", "right_arm_wrist_2_joint", "right_arm_elbow_joint", "left_arm_3f_finger_c_joint_3", "left_arm_shoulder_pan_joint", "left_arm_3f_finger_c_joint_2", "right_arm_3f_finger_c_joint_3", "right_arm_3f_palm_finger_c_joint", "left_arm_3f_finger_b_joint_2", "left_arm_3f_finger_b_joint_1", "left_arm_3f_palm_finger_b_joint", "left_arm_3f_finger_a_joint_2", "left_arm_3f_finger_a_joint_1", "left_arm_wrist_1_joint", "right_arm_wrist_1_joint", "left_arm_wrist_3_joint" ]
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0.514804
19
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19
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[ "left_arm_shoulder_pan_joint", "right_arm_shoulder_pan_joint", "left_arm_shoulder_lift_joint", "right_arm_shoulder_lift_joint", "left_arm_elbow_joint", "right_arm_elbow_joint", "left_arm_wrist_1_joint", "right_arm_wrist_1_joint", "left_arm_wrist_2_joint", "right_arm_wrist_2_joint", "left_arm_wrist_3_joint", "right_arm_wrist_3_joint", "left_arm_3f_palm_finger_b_joint", "left_arm_3f_palm_finger_c_joint", "right_arm_3f_palm_finger_b_joint", "right_arm_3f_palm_finger_c_joint", "left_arm_3f_finger_a_joint_1", "left_arm_3f_finger_b_joint_1", "left_arm_3f_finger_c_joint_1", "right_arm_3f_finger_a_joint_1", "right_arm_3f_finger_b_joint_1", "right_arm_3f_finger_c_joint_1", "left_arm_3f_finger_a_joint_2", "left_arm_3f_finger_b_joint_2", "left_arm_3f_finger_c_joint_2", "right_arm_3f_finger_a_joint_2", "right_arm_3f_finger_b_joint_2", "right_arm_3f_finger_c_joint_2", "left_arm_3f_finger_a_joint_3", "left_arm_3f_finger_b_joint_3", "left_arm_3f_finger_c_joint_3", "right_arm_3f_finger_a_joint_3", "right_arm_3f_finger_b_joint_3", "right_arm_3f_finger_c_joint_3" ]
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0.538922
20
0
20
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[ "left_arm_wrist_2_joint", "left_arm_3f_finger_c_joint_1", "right_arm_3f_palm_finger_b_joint", "left_arm_3f_finger_a_joint_3", "right_arm_wrist_3_joint", "left_arm_elbow_joint", "right_arm_3f_finger_b_joint_2", "left_arm_shoulder_lift_joint", "right_arm_3f_finger_c_joint_2", "left_arm_3f_palm_finger_c_joint", "right_arm_3f_finger_a_joint_2", "right_arm_3f_finger_b_joint_1", "right_arm_3f_finger_b_joint_3", "right_arm_3f_finger_a_joint_1", "right_arm_3f_finger_c_joint_1", "right_arm_3f_finger_a_joint_3", "left_arm_3f_finger_b_joint_3", "right_arm_shoulder_lift_joint", "right_arm_shoulder_pan_joint", "right_arm_wrist_2_joint", "right_arm_elbow_joint", "left_arm_3f_finger_c_joint_3", "left_arm_shoulder_pan_joint", "left_arm_3f_finger_c_joint_2", "right_arm_3f_finger_c_joint_3", "right_arm_3f_palm_finger_c_joint", "left_arm_3f_finger_b_joint_2", "left_arm_3f_finger_b_joint_1", "left_arm_3f_palm_finger_b_joint", "left_arm_3f_finger_a_joint_2", "left_arm_3f_finger_a_joint_1", "left_arm_wrist_1_joint", "right_arm_wrist_1_joint", "left_arm_wrist_3_joint" ]
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0.56626
21
0
21
0
[ "left_arm_shoulder_pan_joint", "right_arm_shoulder_pan_joint", "left_arm_shoulder_lift_joint", "right_arm_shoulder_lift_joint", "left_arm_elbow_joint", "right_arm_elbow_joint", "left_arm_wrist_1_joint", "right_arm_wrist_1_joint", "left_arm_wrist_2_joint", "right_arm_wrist_2_joint", "left_arm_wrist_3_joint", "right_arm_wrist_3_joint", "left_arm_3f_palm_finger_b_joint", "left_arm_3f_palm_finger_c_joint", "right_arm_3f_palm_finger_b_joint", "right_arm_3f_palm_finger_c_joint", "left_arm_3f_finger_a_joint_1", "left_arm_3f_finger_b_joint_1", "left_arm_3f_finger_c_joint_1", "right_arm_3f_finger_a_joint_1", "right_arm_3f_finger_b_joint_1", "right_arm_3f_finger_c_joint_1", "left_arm_3f_finger_a_joint_2", "left_arm_3f_finger_b_joint_2", "left_arm_3f_finger_c_joint_2", "right_arm_3f_finger_a_joint_2", "right_arm_3f_finger_b_joint_2", "right_arm_3f_finger_c_joint_2", "left_arm_3f_finger_a_joint_3", "left_arm_3f_finger_b_joint_3", "left_arm_3f_finger_c_joint_3", "right_arm_3f_finger_a_joint_3", "right_arm_3f_finger_b_joint_3", "right_arm_3f_finger_c_joint_3" ]
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0.597614
22
0
22
0
[ "left_arm_wrist_2_joint", "left_arm_3f_finger_c_joint_1", "right_arm_3f_palm_finger_b_joint", "left_arm_3f_finger_a_joint_3", "right_arm_wrist_3_joint", "left_arm_elbow_joint", "right_arm_3f_finger_b_joint_2", "left_arm_shoulder_lift_joint", "right_arm_3f_finger_c_joint_2", "left_arm_3f_palm_finger_c_joint", "right_arm_3f_finger_a_joint_2", "right_arm_3f_finger_b_joint_1", "right_arm_3f_finger_b_joint_3", "right_arm_3f_finger_a_joint_1", "right_arm_3f_finger_c_joint_1", "right_arm_3f_finger_a_joint_3", "left_arm_3f_finger_b_joint_3", "right_arm_shoulder_lift_joint", "right_arm_shoulder_pan_joint", "right_arm_wrist_2_joint", "right_arm_elbow_joint", "left_arm_3f_finger_c_joint_3", "left_arm_shoulder_pan_joint", "left_arm_3f_finger_c_joint_2", "right_arm_3f_finger_c_joint_3", "right_arm_3f_palm_finger_c_joint", "left_arm_3f_finger_b_joint_2", "left_arm_3f_finger_b_joint_1", "left_arm_3f_palm_finger_b_joint", "left_arm_3f_finger_a_joint_2", "left_arm_3f_finger_a_joint_1", "left_arm_wrist_1_joint", "right_arm_wrist_1_joint", "left_arm_wrist_3_joint" ]
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0.62464
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[ "left_arm_shoulder_pan_joint", "right_arm_shoulder_pan_joint", "left_arm_shoulder_lift_joint", "right_arm_shoulder_lift_joint", "left_arm_elbow_joint", "right_arm_elbow_joint", "left_arm_wrist_1_joint", "right_arm_wrist_1_joint", "left_arm_wrist_2_joint", "right_arm_wrist_2_joint", "left_arm_wrist_3_joint", "right_arm_wrist_3_joint", "left_arm_3f_palm_finger_b_joint", "left_arm_3f_palm_finger_c_joint", "right_arm_3f_palm_finger_b_joint", "right_arm_3f_palm_finger_c_joint", "left_arm_3f_finger_a_joint_1", "left_arm_3f_finger_b_joint_1", "left_arm_3f_finger_c_joint_1", "right_arm_3f_finger_a_joint_1", "right_arm_3f_finger_b_joint_1", "right_arm_3f_finger_c_joint_1", "left_arm_3f_finger_a_joint_2", "left_arm_3f_finger_b_joint_2", "left_arm_3f_finger_c_joint_2", "right_arm_3f_finger_a_joint_2", "right_arm_3f_finger_b_joint_2", "right_arm_3f_finger_c_joint_2", "left_arm_3f_finger_a_joint_3", "left_arm_3f_finger_b_joint_3", "left_arm_3f_finger_c_joint_3", "right_arm_3f_finger_a_joint_3", "right_arm_3f_finger_b_joint_3", "right_arm_3f_finger_c_joint_3" ]
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0.649802
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[ "left_arm_wrist_2_joint", "left_arm_3f_finger_c_joint_1", "right_arm_3f_palm_finger_b_joint", "left_arm_3f_finger_a_joint_3", "right_arm_wrist_3_joint", "left_arm_elbow_joint", "right_arm_3f_finger_b_joint_2", "left_arm_shoulder_lift_joint", "right_arm_3f_finger_c_joint_2", "left_arm_3f_palm_finger_c_joint", "right_arm_3f_finger_a_joint_2", "right_arm_3f_finger_b_joint_1", "right_arm_3f_finger_b_joint_3", "right_arm_3f_finger_a_joint_1", "right_arm_3f_finger_c_joint_1", "right_arm_3f_finger_a_joint_3", "left_arm_3f_finger_b_joint_3", "right_arm_shoulder_lift_joint", "right_arm_shoulder_pan_joint", "right_arm_wrist_2_joint", "right_arm_elbow_joint", "left_arm_3f_finger_c_joint_3", "left_arm_shoulder_pan_joint", "left_arm_3f_finger_c_joint_2", "right_arm_3f_finger_c_joint_3", "right_arm_3f_palm_finger_c_joint", "left_arm_3f_finger_b_joint_2", "left_arm_3f_finger_b_joint_1", "left_arm_3f_palm_finger_b_joint", "left_arm_3f_finger_a_joint_2", "left_arm_3f_finger_a_joint_1", "left_arm_wrist_1_joint", "right_arm_wrist_1_joint", "left_arm_wrist_3_joint" ]
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0.68138
25
0
25
0
[ "left_arm_shoulder_pan_joint", "right_arm_shoulder_pan_joint", "left_arm_shoulder_lift_joint", "right_arm_shoulder_lift_joint", "left_arm_elbow_joint", "right_arm_elbow_joint", "left_arm_wrist_1_joint", "right_arm_wrist_1_joint", "left_arm_wrist_2_joint", "right_arm_wrist_2_joint", "left_arm_wrist_3_joint", "right_arm_wrist_3_joint", "left_arm_3f_palm_finger_b_joint", "left_arm_3f_palm_finger_c_joint", "right_arm_3f_palm_finger_b_joint", "right_arm_3f_palm_finger_c_joint", "left_arm_3f_finger_a_joint_1", "left_arm_3f_finger_b_joint_1", "left_arm_3f_finger_c_joint_1", "right_arm_3f_finger_a_joint_1", "right_arm_3f_finger_b_joint_1", "right_arm_3f_finger_c_joint_1", "left_arm_3f_finger_a_joint_2", "left_arm_3f_finger_b_joint_2", "left_arm_3f_finger_c_joint_2", "right_arm_3f_finger_a_joint_2", "right_arm_3f_finger_b_joint_2", "right_arm_3f_finger_c_joint_2", "left_arm_3f_finger_a_joint_3", "left_arm_3f_finger_b_joint_3", "left_arm_3f_finger_c_joint_3", "right_arm_3f_finger_a_joint_3", "right_arm_3f_finger_b_joint_3", "right_arm_3f_finger_c_joint_3" ]
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0.712153
26
0
26
0
[ "left_arm_wrist_2_joint", "left_arm_3f_finger_c_joint_1", "right_arm_3f_palm_finger_b_joint", "left_arm_3f_finger_a_joint_3", "right_arm_wrist_3_joint", "left_arm_elbow_joint", "right_arm_3f_finger_b_joint_2", "left_arm_shoulder_lift_joint", "right_arm_3f_finger_c_joint_2", "left_arm_3f_palm_finger_c_joint", "right_arm_3f_finger_a_joint_2", "right_arm_3f_finger_b_joint_1", "right_arm_3f_finger_b_joint_3", "right_arm_3f_finger_a_joint_1", "right_arm_3f_finger_c_joint_1", "right_arm_3f_finger_a_joint_3", "left_arm_3f_finger_b_joint_3", "right_arm_shoulder_lift_joint", "right_arm_shoulder_pan_joint", "right_arm_wrist_2_joint", "right_arm_elbow_joint", "left_arm_3f_finger_c_joint_3", "left_arm_shoulder_pan_joint", "left_arm_3f_finger_c_joint_2", "right_arm_3f_finger_c_joint_3", "right_arm_3f_palm_finger_c_joint", "left_arm_3f_finger_b_joint_2", "left_arm_3f_finger_b_joint_1", "left_arm_3f_palm_finger_b_joint", "left_arm_3f_finger_a_joint_2", "left_arm_3f_finger_a_joint_1", "left_arm_wrist_1_joint", "right_arm_wrist_1_joint", "left_arm_wrist_3_joint" ]
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0.743277
27
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27
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[ "left_arm_shoulder_pan_joint", "right_arm_shoulder_pan_joint", "left_arm_shoulder_lift_joint", "right_arm_shoulder_lift_joint", "left_arm_elbow_joint", "right_arm_elbow_joint", "left_arm_wrist_1_joint", "right_arm_wrist_1_joint", "left_arm_wrist_2_joint", "right_arm_wrist_2_joint", "left_arm_wrist_3_joint", "right_arm_wrist_3_joint", "left_arm_3f_palm_finger_b_joint", "left_arm_3f_palm_finger_c_joint", "right_arm_3f_palm_finger_b_joint", "right_arm_3f_palm_finger_c_joint", "left_arm_3f_finger_a_joint_1", "left_arm_3f_finger_b_joint_1", "left_arm_3f_finger_c_joint_1", "right_arm_3f_finger_a_joint_1", "right_arm_3f_finger_b_joint_1", "right_arm_3f_finger_c_joint_1", "left_arm_3f_finger_a_joint_2", "left_arm_3f_finger_b_joint_2", "left_arm_3f_finger_c_joint_2", "right_arm_3f_finger_a_joint_2", "right_arm_3f_finger_b_joint_2", "right_arm_3f_finger_c_joint_2", "left_arm_3f_finger_a_joint_3", "left_arm_3f_finger_b_joint_3", "left_arm_3f_finger_c_joint_3", "right_arm_3f_finger_a_joint_3", "right_arm_3f_finger_b_joint_3", "right_arm_3f_finger_c_joint_3" ]
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0.76858
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28
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[ "left_arm_wrist_2_joint", "left_arm_3f_finger_c_joint_1", "right_arm_3f_palm_finger_b_joint", "left_arm_3f_finger_a_joint_3", "right_arm_wrist_3_joint", "left_arm_elbow_joint", "right_arm_3f_finger_b_joint_2", "left_arm_shoulder_lift_joint", "right_arm_3f_finger_c_joint_2", "left_arm_3f_palm_finger_c_joint", "right_arm_3f_finger_a_joint_2", "right_arm_3f_finger_b_joint_1", "right_arm_3f_finger_b_joint_3", "right_arm_3f_finger_a_joint_1", "right_arm_3f_finger_c_joint_1", "right_arm_3f_finger_a_joint_3", "left_arm_3f_finger_b_joint_3", "right_arm_shoulder_lift_joint", "right_arm_shoulder_pan_joint", "right_arm_wrist_2_joint", "right_arm_elbow_joint", "left_arm_3f_finger_c_joint_3", "left_arm_shoulder_pan_joint", "left_arm_3f_finger_c_joint_2", "right_arm_3f_finger_c_joint_3", "right_arm_3f_palm_finger_c_joint", "left_arm_3f_finger_b_joint_2", "left_arm_3f_finger_b_joint_1", "left_arm_3f_palm_finger_b_joint", "left_arm_3f_finger_a_joint_2", "left_arm_3f_finger_a_joint_1", "left_arm_wrist_1_joint", "right_arm_wrist_1_joint", "left_arm_wrist_3_joint" ]
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0.800689
29
0
29
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[ "left_arm_shoulder_pan_joint", "right_arm_shoulder_pan_joint", "left_arm_shoulder_lift_joint", "right_arm_shoulder_lift_joint", "left_arm_elbow_joint", "right_arm_elbow_joint", "left_arm_wrist_1_joint", "right_arm_wrist_1_joint", "left_arm_wrist_2_joint", "right_arm_wrist_2_joint", "left_arm_wrist_3_joint", "right_arm_wrist_3_joint", "left_arm_3f_palm_finger_b_joint", "left_arm_3f_palm_finger_c_joint", "right_arm_3f_palm_finger_b_joint", "right_arm_3f_palm_finger_c_joint", "left_arm_3f_finger_a_joint_1", "left_arm_3f_finger_b_joint_1", "left_arm_3f_finger_c_joint_1", "right_arm_3f_finger_a_joint_1", "right_arm_3f_finger_b_joint_1", "right_arm_3f_finger_c_joint_1", "left_arm_3f_finger_a_joint_2", "left_arm_3f_finger_b_joint_2", "left_arm_3f_finger_c_joint_2", "right_arm_3f_finger_a_joint_2", "right_arm_3f_finger_b_joint_2", "right_arm_3f_finger_c_joint_2", "left_arm_3f_finger_a_joint_3", "left_arm_3f_finger_b_joint_3", "left_arm_3f_finger_c_joint_3", "right_arm_3f_finger_a_joint_3", "right_arm_3f_finger_b_joint_3", "right_arm_3f_finger_c_joint_3" ]
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0.828004
30
0
30
0
[ "left_arm_wrist_2_joint", "left_arm_3f_finger_c_joint_1", "right_arm_3f_palm_finger_b_joint", "left_arm_3f_finger_a_joint_3", "right_arm_wrist_3_joint", "left_arm_elbow_joint", "right_arm_3f_finger_b_joint_2", "left_arm_shoulder_lift_joint", "right_arm_3f_finger_c_joint_2", "left_arm_3f_palm_finger_c_joint", "right_arm_3f_finger_a_joint_2", "right_arm_3f_finger_b_joint_1", "right_arm_3f_finger_b_joint_3", "right_arm_3f_finger_a_joint_1", "right_arm_3f_finger_c_joint_1", "right_arm_3f_finger_a_joint_3", "left_arm_3f_finger_b_joint_3", "right_arm_shoulder_lift_joint", "right_arm_shoulder_pan_joint", "right_arm_wrist_2_joint", "right_arm_elbow_joint", "left_arm_3f_finger_c_joint_3", "left_arm_shoulder_pan_joint", "left_arm_3f_finger_c_joint_2", "right_arm_3f_finger_c_joint_3", "right_arm_3f_palm_finger_c_joint", "left_arm_3f_finger_b_joint_2", "left_arm_3f_finger_b_joint_1", "left_arm_3f_palm_finger_b_joint", "left_arm_3f_finger_a_joint_2", "left_arm_3f_finger_a_joint_1", "left_arm_wrist_1_joint", "right_arm_wrist_1_joint", "left_arm_wrist_3_joint" ]
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0.854653
31
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31
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[ "left_arm_shoulder_pan_joint", "right_arm_shoulder_pan_joint", "left_arm_shoulder_lift_joint", "right_arm_shoulder_lift_joint", "left_arm_elbow_joint", "right_arm_elbow_joint", "left_arm_wrist_1_joint", "right_arm_wrist_1_joint", "left_arm_wrist_2_joint", "right_arm_wrist_2_joint", "left_arm_wrist_3_joint", "right_arm_wrist_3_joint", "left_arm_3f_palm_finger_b_joint", "left_arm_3f_palm_finger_c_joint", "right_arm_3f_palm_finger_b_joint", "right_arm_3f_palm_finger_c_joint", "left_arm_3f_finger_a_joint_1", "left_arm_3f_finger_b_joint_1", "left_arm_3f_finger_c_joint_1", "right_arm_3f_finger_a_joint_1", "right_arm_3f_finger_b_joint_1", "right_arm_3f_finger_c_joint_1", "left_arm_3f_finger_a_joint_2", "left_arm_3f_finger_b_joint_2", "left_arm_3f_finger_c_joint_2", "right_arm_3f_finger_a_joint_2", "right_arm_3f_finger_b_joint_2", "right_arm_3f_finger_c_joint_2", "left_arm_3f_finger_a_joint_3", "left_arm_3f_finger_b_joint_3", "left_arm_3f_finger_c_joint_3", "right_arm_3f_finger_a_joint_3", "right_arm_3f_finger_b_joint_3", "right_arm_3f_finger_c_joint_3" ]
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0.877247
32
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32
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[ "left_arm_shoulder_pan_joint", "right_arm_shoulder_pan_joint", "left_arm_shoulder_lift_joint", "right_arm_shoulder_lift_joint", "left_arm_elbow_joint", "right_arm_elbow_joint", "left_arm_wrist_1_joint", "right_arm_wrist_1_joint", "left_arm_wrist_2_joint", "right_arm_wrist_2_joint", "left_arm_wrist_3_joint", "right_arm_wrist_3_joint", "left_arm_3f_palm_finger_b_joint", "left_arm_3f_palm_finger_c_joint", "right_arm_3f_palm_finger_b_joint", "right_arm_3f_palm_finger_c_joint", "left_arm_3f_finger_a_joint_1", "left_arm_3f_finger_b_joint_1", "left_arm_3f_finger_c_joint_1", "right_arm_3f_finger_a_joint_1", "right_arm_3f_finger_b_joint_1", "right_arm_3f_finger_c_joint_1", "left_arm_3f_finger_a_joint_2", "left_arm_3f_finger_b_joint_2", "left_arm_3f_finger_c_joint_2", "right_arm_3f_finger_a_joint_2", "right_arm_3f_finger_b_joint_2", "right_arm_3f_finger_c_joint_2", "left_arm_3f_finger_a_joint_3", "left_arm_3f_finger_b_joint_3", "left_arm_3f_finger_c_joint_3", "right_arm_3f_finger_a_joint_3", "right_arm_3f_finger_b_joint_3", "right_arm_3f_finger_c_joint_3" ]
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0.904323
33
0
33
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[ "left_arm_shoulder_pan_joint", "right_arm_shoulder_pan_joint", "left_arm_shoulder_lift_joint", "right_arm_shoulder_lift_joint", "left_arm_elbow_joint", "right_arm_elbow_joint", "left_arm_wrist_1_joint", "right_arm_wrist_1_joint", "left_arm_wrist_2_joint", "right_arm_wrist_2_joint", "left_arm_wrist_3_joint", "right_arm_wrist_3_joint", "left_arm_3f_palm_finger_b_joint", "left_arm_3f_palm_finger_c_joint", "right_arm_3f_palm_finger_b_joint", "right_arm_3f_palm_finger_c_joint", "left_arm_3f_finger_a_joint_1", "left_arm_3f_finger_b_joint_1", "left_arm_3f_finger_c_joint_1", "right_arm_3f_finger_a_joint_1", "right_arm_3f_finger_b_joint_1", "right_arm_3f_finger_c_joint_1", "left_arm_3f_finger_a_joint_2", "left_arm_3f_finger_b_joint_2", "left_arm_3f_finger_c_joint_2", "right_arm_3f_finger_a_joint_2", "right_arm_3f_finger_b_joint_2", "right_arm_3f_finger_c_joint_2", "left_arm_3f_finger_a_joint_3", "left_arm_3f_finger_b_joint_3", "left_arm_3f_finger_c_joint_3", "right_arm_3f_finger_a_joint_3", "right_arm_3f_finger_b_joint_3", "right_arm_3f_finger_c_joint_3" ]
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0.928242
34
0
34
0
[ "left_arm_wrist_2_joint", "left_arm_3f_finger_c_joint_1", "right_arm_3f_palm_finger_b_joint", "left_arm_3f_finger_a_joint_3", "right_arm_wrist_3_joint", "left_arm_elbow_joint", "right_arm_3f_finger_b_joint_2", "left_arm_shoulder_lift_joint", "right_arm_3f_finger_c_joint_2", "left_arm_3f_palm_finger_c_joint", "right_arm_3f_finger_a_joint_2", "right_arm_3f_finger_b_joint_1", "right_arm_3f_finger_b_joint_3", "right_arm_3f_finger_a_joint_1", "right_arm_3f_finger_c_joint_1", "right_arm_3f_finger_a_joint_3", "left_arm_3f_finger_b_joint_3", "right_arm_shoulder_lift_joint", "right_arm_shoulder_pan_joint", "right_arm_wrist_2_joint", "right_arm_elbow_joint", "left_arm_3f_finger_c_joint_3", "left_arm_shoulder_pan_joint", "left_arm_3f_finger_c_joint_2", "right_arm_3f_finger_c_joint_3", "right_arm_3f_palm_finger_c_joint", "left_arm_3f_finger_b_joint_2", "left_arm_3f_finger_b_joint_1", "left_arm_3f_palm_finger_b_joint", "left_arm_3f_finger_a_joint_2", "left_arm_3f_finger_a_joint_1", "left_arm_wrist_1_joint", "right_arm_wrist_1_joint", "left_arm_wrist_3_joint" ]
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0.955328
35
0
35
0
[ "left_arm_shoulder_pan_joint", "right_arm_shoulder_pan_joint", "left_arm_shoulder_lift_joint", "right_arm_shoulder_lift_joint", "left_arm_elbow_joint", "right_arm_elbow_joint", "left_arm_wrist_1_joint", "right_arm_wrist_1_joint", "left_arm_wrist_2_joint", "right_arm_wrist_2_joint", "left_arm_wrist_3_joint", "right_arm_wrist_3_joint", "left_arm_3f_palm_finger_b_joint", "left_arm_3f_palm_finger_c_joint", "right_arm_3f_palm_finger_b_joint", "right_arm_3f_palm_finger_c_joint", "left_arm_3f_finger_a_joint_1", "left_arm_3f_finger_b_joint_1", "left_arm_3f_finger_c_joint_1", "right_arm_3f_finger_a_joint_1", "right_arm_3f_finger_b_joint_1", "right_arm_3f_finger_c_joint_1", "left_arm_3f_finger_a_joint_2", "left_arm_3f_finger_b_joint_2", "left_arm_3f_finger_c_joint_2", "right_arm_3f_finger_a_joint_2", "right_arm_3f_finger_b_joint_2", "right_arm_3f_finger_c_joint_2", "left_arm_3f_finger_a_joint_3", "left_arm_3f_finger_b_joint_3", "left_arm_3f_finger_c_joint_3", "right_arm_3f_finger_a_joint_3", "right_arm_3f_finger_b_joint_3", "right_arm_3f_finger_c_joint_3" ]
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0.97931
36
0
36
0
[ "left_arm_wrist_2_joint", "left_arm_3f_finger_c_joint_1", "right_arm_3f_palm_finger_b_joint", "left_arm_3f_finger_a_joint_3", "right_arm_wrist_3_joint", "left_arm_elbow_joint", "right_arm_3f_finger_b_joint_2", "left_arm_shoulder_lift_joint", "right_arm_3f_finger_c_joint_2", "left_arm_3f_palm_finger_c_joint", "right_arm_3f_finger_a_joint_2", "right_arm_3f_finger_b_joint_1", "right_arm_3f_finger_b_joint_3", "right_arm_3f_finger_a_joint_1", "right_arm_3f_finger_c_joint_1", "right_arm_3f_finger_a_joint_3", "left_arm_3f_finger_b_joint_3", "right_arm_shoulder_lift_joint", "right_arm_shoulder_pan_joint", "right_arm_wrist_2_joint", "right_arm_elbow_joint", "left_arm_3f_finger_c_joint_3", "left_arm_shoulder_pan_joint", "left_arm_3f_finger_c_joint_2", "right_arm_3f_finger_c_joint_3", "right_arm_3f_palm_finger_c_joint", "left_arm_3f_finger_b_joint_2", "left_arm_3f_finger_b_joint_1", "left_arm_3f_palm_finger_b_joint", "left_arm_3f_finger_a_joint_2", "left_arm_3f_finger_a_joint_1", "left_arm_wrist_1_joint", "right_arm_wrist_1_joint", "left_arm_wrist_3_joint" ]
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1.005621
37
0
37
0
[ "left_arm_shoulder_pan_joint", "right_arm_shoulder_pan_joint", "left_arm_shoulder_lift_joint", "right_arm_shoulder_lift_joint", "left_arm_elbow_joint", "right_arm_elbow_joint", "left_arm_wrist_1_joint", "right_arm_wrist_1_joint", "left_arm_wrist_2_joint", "right_arm_wrist_2_joint", "left_arm_wrist_3_joint", "right_arm_wrist_3_joint", "left_arm_3f_palm_finger_b_joint", "left_arm_3f_palm_finger_c_joint", "right_arm_3f_palm_finger_b_joint", "right_arm_3f_palm_finger_c_joint", "left_arm_3f_finger_a_joint_1", "left_arm_3f_finger_b_joint_1", "left_arm_3f_finger_c_joint_1", "right_arm_3f_finger_a_joint_1", "right_arm_3f_finger_b_joint_1", "right_arm_3f_finger_c_joint_1", "left_arm_3f_finger_a_joint_2", "left_arm_3f_finger_b_joint_2", "left_arm_3f_finger_c_joint_2", "right_arm_3f_finger_a_joint_2", "right_arm_3f_finger_b_joint_2", "right_arm_3f_finger_c_joint_2", "left_arm_3f_finger_a_joint_3", "left_arm_3f_finger_b_joint_3", "left_arm_3f_finger_c_joint_3", "right_arm_3f_finger_a_joint_3", "right_arm_3f_finger_b_joint_3", "right_arm_3f_finger_c_joint_3" ]
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1.026414
38
0
38
0
[ "left_arm_shoulder_pan_joint", "right_arm_shoulder_pan_joint", "left_arm_shoulder_lift_joint", "right_arm_shoulder_lift_joint", "left_arm_elbow_joint", "right_arm_elbow_joint", "left_arm_wrist_1_joint", "right_arm_wrist_1_joint", "left_arm_wrist_2_joint", "right_arm_wrist_2_joint", "left_arm_wrist_3_joint", "right_arm_wrist_3_joint", "left_arm_3f_palm_finger_b_joint", "left_arm_3f_palm_finger_c_joint", "right_arm_3f_palm_finger_b_joint", "right_arm_3f_palm_finger_c_joint", "left_arm_3f_finger_a_joint_1", "left_arm_3f_finger_b_joint_1", "left_arm_3f_finger_c_joint_1", "right_arm_3f_finger_a_joint_1", "right_arm_3f_finger_b_joint_1", "right_arm_3f_finger_c_joint_1", "left_arm_3f_finger_a_joint_2", "left_arm_3f_finger_b_joint_2", "left_arm_3f_finger_c_joint_2", "right_arm_3f_finger_a_joint_2", "right_arm_3f_finger_b_joint_2", "right_arm_3f_finger_c_joint_2", "left_arm_3f_finger_a_joint_3", "left_arm_3f_finger_b_joint_3", "left_arm_3f_finger_c_joint_3", "right_arm_3f_finger_a_joint_3", "right_arm_3f_finger_b_joint_3", "right_arm_3f_finger_c_joint_3" ]
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1.055171
39
0
39
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[ "left_arm_shoulder_pan_joint", "right_arm_shoulder_pan_joint", "left_arm_shoulder_lift_joint", "right_arm_shoulder_lift_joint", "left_arm_elbow_joint", "right_arm_elbow_joint", "left_arm_wrist_1_joint", "right_arm_wrist_1_joint", "left_arm_wrist_2_joint", "right_arm_wrist_2_joint", "left_arm_wrist_3_joint", "right_arm_wrist_3_joint", "left_arm_3f_palm_finger_b_joint", "left_arm_3f_palm_finger_c_joint", "right_arm_3f_palm_finger_b_joint", "right_arm_3f_palm_finger_c_joint", "left_arm_3f_finger_a_joint_1", "left_arm_3f_finger_b_joint_1", "left_arm_3f_finger_c_joint_1", "right_arm_3f_finger_a_joint_1", "right_arm_3f_finger_b_joint_1", "right_arm_3f_finger_c_joint_1", "left_arm_3f_finger_a_joint_2", "left_arm_3f_finger_b_joint_2", "left_arm_3f_finger_c_joint_2", "right_arm_3f_finger_a_joint_2", "right_arm_3f_finger_b_joint_2", "right_arm_3f_finger_c_joint_2", "left_arm_3f_finger_a_joint_3", "left_arm_3f_finger_b_joint_3", "left_arm_3f_finger_c_joint_3", "right_arm_3f_finger_a_joint_3", "right_arm_3f_finger_b_joint_3", "right_arm_3f_finger_c_joint_3" ]
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1.078794
40
0
40
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[ "left_arm_wrist_2_joint", "left_arm_3f_finger_c_joint_1", "right_arm_3f_palm_finger_b_joint", "left_arm_3f_finger_a_joint_3", "right_arm_wrist_3_joint", "left_arm_elbow_joint", "right_arm_3f_finger_b_joint_2", "left_arm_shoulder_lift_joint", "right_arm_3f_finger_c_joint_2", "left_arm_3f_palm_finger_c_joint", "right_arm_3f_finger_a_joint_2", "right_arm_3f_finger_b_joint_1", "right_arm_3f_finger_b_joint_3", "right_arm_3f_finger_a_joint_1", "right_arm_3f_finger_c_joint_1", "right_arm_3f_finger_a_joint_3", "left_arm_3f_finger_b_joint_3", "right_arm_shoulder_lift_joint", "right_arm_shoulder_pan_joint", "right_arm_wrist_2_joint", "right_arm_elbow_joint", "left_arm_3f_finger_c_joint_3", "left_arm_shoulder_pan_joint", "left_arm_3f_finger_c_joint_2", "right_arm_3f_finger_c_joint_3", "right_arm_3f_palm_finger_c_joint", "left_arm_3f_finger_b_joint_2", "left_arm_3f_finger_b_joint_1", "left_arm_3f_palm_finger_b_joint", "left_arm_3f_finger_a_joint_2", "left_arm_3f_finger_a_joint_1", "left_arm_wrist_1_joint", "right_arm_wrist_1_joint", "left_arm_wrist_3_joint" ]
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1.106014
41
0
41
0
[ "left_arm_shoulder_pan_joint", "right_arm_shoulder_pan_joint", "left_arm_shoulder_lift_joint", "right_arm_shoulder_lift_joint", "left_arm_elbow_joint", "right_arm_elbow_joint", "left_arm_wrist_1_joint", "right_arm_wrist_1_joint", "left_arm_wrist_2_joint", "right_arm_wrist_2_joint", "left_arm_wrist_3_joint", "right_arm_wrist_3_joint", "left_arm_3f_palm_finger_b_joint", "left_arm_3f_palm_finger_c_joint", "right_arm_3f_palm_finger_b_joint", "right_arm_3f_palm_finger_c_joint", "left_arm_3f_finger_a_joint_1", "left_arm_3f_finger_b_joint_1", "left_arm_3f_finger_c_joint_1", "right_arm_3f_finger_a_joint_1", "right_arm_3f_finger_b_joint_1", "right_arm_3f_finger_c_joint_1", "left_arm_3f_finger_a_joint_2", "left_arm_3f_finger_b_joint_2", "left_arm_3f_finger_c_joint_2", "right_arm_3f_finger_a_joint_2", "right_arm_3f_finger_b_joint_2", "right_arm_3f_finger_c_joint_2", "left_arm_3f_finger_a_joint_3", "left_arm_3f_finger_b_joint_3", "left_arm_3f_finger_c_joint_3", "right_arm_3f_finger_a_joint_3", "right_arm_3f_finger_b_joint_3", "right_arm_3f_finger_c_joint_3" ]
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1.128708
42
0
42
0
[ "left_arm_wrist_2_joint", "left_arm_3f_finger_c_joint_1", "right_arm_3f_palm_finger_b_joint", "left_arm_3f_finger_a_joint_3", "right_arm_wrist_3_joint", "left_arm_elbow_joint", "right_arm_3f_finger_b_joint_2", "left_arm_shoulder_lift_joint", "right_arm_3f_finger_c_joint_2", "left_arm_3f_palm_finger_c_joint", "right_arm_3f_finger_a_joint_2", "right_arm_3f_finger_b_joint_1", "right_arm_3f_finger_b_joint_3", "right_arm_3f_finger_a_joint_1", "right_arm_3f_finger_c_joint_1", "right_arm_3f_finger_a_joint_3", "left_arm_3f_finger_b_joint_3", "right_arm_shoulder_lift_joint", "right_arm_shoulder_pan_joint", "right_arm_wrist_2_joint", "right_arm_elbow_joint", "left_arm_3f_finger_c_joint_3", "left_arm_shoulder_pan_joint", "left_arm_3f_finger_c_joint_2", "right_arm_3f_finger_c_joint_3", "right_arm_3f_palm_finger_c_joint", "left_arm_3f_finger_b_joint_2", "left_arm_3f_finger_b_joint_1", "left_arm_3f_palm_finger_b_joint", "left_arm_3f_finger_a_joint_2", "left_arm_3f_finger_a_joint_1", "left_arm_wrist_1_joint", "right_arm_wrist_1_joint", "left_arm_wrist_3_joint" ]
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1.155666
43
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43
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[ "left_arm_shoulder_pan_joint", "right_arm_shoulder_pan_joint", "left_arm_shoulder_lift_joint", "right_arm_shoulder_lift_joint", "left_arm_elbow_joint", "right_arm_elbow_joint", "left_arm_wrist_1_joint", "right_arm_wrist_1_joint", "left_arm_wrist_2_joint", "right_arm_wrist_2_joint", "left_arm_wrist_3_joint", "right_arm_wrist_3_joint", "left_arm_3f_palm_finger_b_joint", "left_arm_3f_palm_finger_c_joint", "right_arm_3f_palm_finger_b_joint", "right_arm_3f_palm_finger_c_joint", "left_arm_3f_finger_a_joint_1", "left_arm_3f_finger_b_joint_1", "left_arm_3f_finger_c_joint_1", "right_arm_3f_finger_a_joint_1", "right_arm_3f_finger_b_joint_1", "right_arm_3f_finger_c_joint_1", "left_arm_3f_finger_a_joint_2", "left_arm_3f_finger_b_joint_2", "left_arm_3f_finger_c_joint_2", "right_arm_3f_finger_a_joint_2", "right_arm_3f_finger_b_joint_2", "right_arm_3f_finger_c_joint_2", "left_arm_3f_finger_a_joint_3", "left_arm_3f_finger_b_joint_3", "left_arm_3f_finger_c_joint_3", "right_arm_3f_finger_a_joint_3", "right_arm_3f_finger_b_joint_3", "right_arm_3f_finger_c_joint_3" ]
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1.178753
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[ "left_arm_wrist_2_joint", "left_arm_3f_finger_c_joint_1", "right_arm_3f_palm_finger_b_joint", "left_arm_3f_finger_a_joint_3", "right_arm_wrist_3_joint", "left_arm_elbow_joint", "right_arm_3f_finger_b_joint_2", "left_arm_shoulder_lift_joint", "right_arm_3f_finger_c_joint_2", "left_arm_3f_palm_finger_c_joint", "right_arm_3f_finger_a_joint_2", "right_arm_3f_finger_b_joint_1", "right_arm_3f_finger_b_joint_3", "right_arm_3f_finger_a_joint_1", "right_arm_3f_finger_c_joint_1", "right_arm_3f_finger_a_joint_3", "left_arm_3f_finger_b_joint_3", "right_arm_shoulder_lift_joint", "right_arm_shoulder_pan_joint", "right_arm_wrist_2_joint", "right_arm_elbow_joint", "left_arm_3f_finger_c_joint_3", "left_arm_shoulder_pan_joint", "left_arm_3f_finger_c_joint_2", "right_arm_3f_finger_c_joint_3", "right_arm_3f_palm_finger_c_joint", "left_arm_3f_finger_b_joint_2", "left_arm_3f_finger_b_joint_1", "left_arm_3f_palm_finger_b_joint", "left_arm_3f_finger_a_joint_2", "left_arm_3f_finger_a_joint_1", "left_arm_wrist_1_joint", "right_arm_wrist_1_joint", "left_arm_wrist_3_joint" ]
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1.205492
45
0
45
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[ "left_arm_shoulder_pan_joint", "right_arm_shoulder_pan_joint", "left_arm_shoulder_lift_joint", "right_arm_shoulder_lift_joint", "left_arm_elbow_joint", "right_arm_elbow_joint", "left_arm_wrist_1_joint", "right_arm_wrist_1_joint", "left_arm_wrist_2_joint", "right_arm_wrist_2_joint", "left_arm_wrist_3_joint", "right_arm_wrist_3_joint", "left_arm_3f_palm_finger_b_joint", "left_arm_3f_palm_finger_c_joint", "right_arm_3f_palm_finger_b_joint", "right_arm_3f_palm_finger_c_joint", "left_arm_3f_finger_a_joint_1", "left_arm_3f_finger_b_joint_1", "left_arm_3f_finger_c_joint_1", "right_arm_3f_finger_a_joint_1", "right_arm_3f_finger_b_joint_1", "right_arm_3f_finger_c_joint_1", "left_arm_3f_finger_a_joint_2", "left_arm_3f_finger_b_joint_2", "left_arm_3f_finger_c_joint_2", "right_arm_3f_finger_a_joint_2", "right_arm_3f_finger_b_joint_2", "right_arm_3f_finger_c_joint_2", "left_arm_3f_finger_a_joint_3", "left_arm_3f_finger_b_joint_3", "left_arm_3f_finger_c_joint_3", "right_arm_3f_finger_a_joint_3", "right_arm_3f_finger_b_joint_3", "right_arm_3f_finger_c_joint_3" ]
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1.241209
46
0
46
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[ "left_arm_shoulder_pan_joint", "right_arm_shoulder_pan_joint", "left_arm_shoulder_lift_joint", "right_arm_shoulder_lift_joint", "left_arm_elbow_joint", "right_arm_elbow_joint", "left_arm_wrist_1_joint", "right_arm_wrist_1_joint", "left_arm_wrist_2_joint", "right_arm_wrist_2_joint", "left_arm_wrist_3_joint", "right_arm_wrist_3_joint", "left_arm_3f_palm_finger_b_joint", "left_arm_3f_palm_finger_c_joint", "right_arm_3f_palm_finger_b_joint", "right_arm_3f_palm_finger_c_joint", "left_arm_3f_finger_a_joint_1", "left_arm_3f_finger_b_joint_1", "left_arm_3f_finger_c_joint_1", "right_arm_3f_finger_a_joint_1", "right_arm_3f_finger_b_joint_1", "right_arm_3f_finger_c_joint_1", "left_arm_3f_finger_a_joint_2", "left_arm_3f_finger_b_joint_2", "left_arm_3f_finger_c_joint_2", "right_arm_3f_finger_a_joint_2", "right_arm_3f_finger_b_joint_2", "right_arm_3f_finger_c_joint_2", "left_arm_3f_finger_a_joint_3", "left_arm_3f_finger_b_joint_3", "left_arm_3f_finger_c_joint_3", "right_arm_3f_finger_a_joint_3", "right_arm_3f_finger_b_joint_3", "right_arm_3f_finger_c_joint_3" ]
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1.269713
47
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47
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[ "left_arm_wrist_2_joint", "left_arm_3f_finger_c_joint_1", "right_arm_3f_palm_finger_b_joint", "left_arm_3f_finger_a_joint_3", "right_arm_wrist_3_joint", "left_arm_elbow_joint", "right_arm_3f_finger_b_joint_2", "left_arm_shoulder_lift_joint", "right_arm_3f_finger_c_joint_2", "left_arm_3f_palm_finger_c_joint", "right_arm_3f_finger_a_joint_2", "right_arm_3f_finger_b_joint_1", "right_arm_3f_finger_b_joint_3", "right_arm_3f_finger_a_joint_1", "right_arm_3f_finger_c_joint_1", "right_arm_3f_finger_a_joint_3", "left_arm_3f_finger_b_joint_3", "right_arm_shoulder_lift_joint", "right_arm_shoulder_pan_joint", "right_arm_wrist_2_joint", "right_arm_elbow_joint", "left_arm_3f_finger_c_joint_3", "left_arm_shoulder_pan_joint", "left_arm_3f_finger_c_joint_2", "right_arm_3f_finger_c_joint_3", "right_arm_3f_palm_finger_c_joint", "left_arm_3f_finger_b_joint_2", "left_arm_3f_finger_b_joint_1", "left_arm_3f_palm_finger_b_joint", "left_arm_3f_finger_a_joint_2", "left_arm_3f_finger_a_joint_1", "left_arm_wrist_1_joint", "right_arm_wrist_1_joint", "left_arm_wrist_3_joint" ]
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1.294496
48
0
48
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[ "left_arm_shoulder_pan_joint", "right_arm_shoulder_pan_joint", "left_arm_shoulder_lift_joint", "right_arm_shoulder_lift_joint", "left_arm_elbow_joint", "right_arm_elbow_joint", "left_arm_wrist_1_joint", "right_arm_wrist_1_joint", "left_arm_wrist_2_joint", "right_arm_wrist_2_joint", "left_arm_wrist_3_joint", "right_arm_wrist_3_joint", "left_arm_3f_palm_finger_b_joint", "left_arm_3f_palm_finger_c_joint", "right_arm_3f_palm_finger_b_joint", "right_arm_3f_palm_finger_c_joint", "left_arm_3f_finger_a_joint_1", "left_arm_3f_finger_b_joint_1", "left_arm_3f_finger_c_joint_1", "right_arm_3f_finger_a_joint_1", "right_arm_3f_finger_b_joint_1", "right_arm_3f_finger_c_joint_1", "left_arm_3f_finger_a_joint_2", "left_arm_3f_finger_b_joint_2", "left_arm_3f_finger_c_joint_2", "right_arm_3f_finger_a_joint_2", "right_arm_3f_finger_b_joint_2", "right_arm_3f_finger_c_joint_2", "left_arm_3f_finger_a_joint_3", "left_arm_3f_finger_b_joint_3", "left_arm_3f_finger_c_joint_3", "right_arm_3f_finger_a_joint_3", "right_arm_3f_finger_b_joint_3", "right_arm_3f_finger_c_joint_3" ]
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1.325022
49
0
49
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[ "left_arm_shoulder_pan_joint", "right_arm_shoulder_pan_joint", "left_arm_shoulder_lift_joint", "right_arm_shoulder_lift_joint", "left_arm_elbow_joint", "right_arm_elbow_joint", "left_arm_wrist_1_joint", "right_arm_wrist_1_joint", "left_arm_wrist_2_joint", "right_arm_wrist_2_joint", "left_arm_wrist_3_joint", "right_arm_wrist_3_joint", "left_arm_3f_palm_finger_b_joint", "left_arm_3f_palm_finger_c_joint", "right_arm_3f_palm_finger_b_joint", "right_arm_3f_palm_finger_c_joint", "left_arm_3f_finger_a_joint_1", "left_arm_3f_finger_b_joint_1", "left_arm_3f_finger_c_joint_1", "right_arm_3f_finger_a_joint_1", "right_arm_3f_finger_b_joint_1", "right_arm_3f_finger_c_joint_1", "left_arm_3f_finger_a_joint_2", "left_arm_3f_finger_b_joint_2", "left_arm_3f_finger_c_joint_2", "right_arm_3f_finger_a_joint_2", "right_arm_3f_finger_b_joint_2", "right_arm_3f_finger_c_joint_2", "left_arm_3f_finger_a_joint_3", "left_arm_3f_finger_b_joint_3", "left_arm_3f_finger_c_joint_3", "right_arm_3f_finger_a_joint_3", "right_arm_3f_finger_b_joint_3", "right_arm_3f_finger_c_joint_3" ]
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1.351217
50
0
50
0
[ "left_arm_shoulder_pan_joint", "right_arm_shoulder_pan_joint", "left_arm_shoulder_lift_joint", "right_arm_shoulder_lift_joint", "left_arm_elbow_joint", "right_arm_elbow_joint", "left_arm_wrist_1_joint", "right_arm_wrist_1_joint", "left_arm_wrist_2_joint", "right_arm_wrist_2_joint", "left_arm_wrist_3_joint", "right_arm_wrist_3_joint", "left_arm_3f_palm_finger_b_joint", "left_arm_3f_palm_finger_c_joint", "right_arm_3f_palm_finger_b_joint", "right_arm_3f_palm_finger_c_joint", "left_arm_3f_finger_a_joint_1", "left_arm_3f_finger_b_joint_1", "left_arm_3f_finger_c_joint_1", "right_arm_3f_finger_a_joint_1", "right_arm_3f_finger_b_joint_1", "right_arm_3f_finger_c_joint_1", "left_arm_3f_finger_a_joint_2", "left_arm_3f_finger_b_joint_2", "left_arm_3f_finger_c_joint_2", "right_arm_3f_finger_a_joint_2", "right_arm_3f_finger_b_joint_2", "right_arm_3f_finger_c_joint_2", "left_arm_3f_finger_a_joint_3", "left_arm_3f_finger_b_joint_3", "left_arm_3f_finger_c_joint_3", "right_arm_3f_finger_a_joint_3", "right_arm_3f_finger_b_joint_3", "right_arm_3f_finger_c_joint_3" ]
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1.379655
51
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51
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[ "left_arm_wrist_2_joint", "left_arm_3f_finger_c_joint_1", "right_arm_3f_palm_finger_b_joint", "left_arm_3f_finger_a_joint_3", "right_arm_wrist_3_joint", "left_arm_elbow_joint", "right_arm_3f_finger_b_joint_2", "left_arm_shoulder_lift_joint", "right_arm_3f_finger_c_joint_2", "left_arm_3f_palm_finger_c_joint", "right_arm_3f_finger_a_joint_2", "right_arm_3f_finger_b_joint_1", "right_arm_3f_finger_b_joint_3", "right_arm_3f_finger_a_joint_1", "right_arm_3f_finger_c_joint_1", "right_arm_3f_finger_a_joint_3", "left_arm_3f_finger_b_joint_3", "right_arm_shoulder_lift_joint", "right_arm_shoulder_pan_joint", "right_arm_wrist_2_joint", "right_arm_elbow_joint", "left_arm_3f_finger_c_joint_3", "left_arm_shoulder_pan_joint", "left_arm_3f_finger_c_joint_2", "right_arm_3f_finger_c_joint_3", "right_arm_3f_palm_finger_c_joint", "left_arm_3f_finger_b_joint_2", "left_arm_3f_finger_b_joint_1", "left_arm_3f_palm_finger_b_joint", "left_arm_3f_finger_a_joint_2", "left_arm_3f_finger_a_joint_1", "left_arm_wrist_1_joint", "right_arm_wrist_1_joint", "left_arm_wrist_3_joint" ]
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1.405739
52
0
52
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[ "left_arm_shoulder_pan_joint", "right_arm_shoulder_pan_joint", "left_arm_shoulder_lift_joint", "right_arm_shoulder_lift_joint", "left_arm_elbow_joint", "right_arm_elbow_joint", "left_arm_wrist_1_joint", "right_arm_wrist_1_joint", "left_arm_wrist_2_joint", "right_arm_wrist_2_joint", "left_arm_wrist_3_joint", "right_arm_wrist_3_joint", "left_arm_3f_palm_finger_b_joint", "left_arm_3f_palm_finger_c_joint", "right_arm_3f_palm_finger_b_joint", "right_arm_3f_palm_finger_c_joint", "left_arm_3f_finger_a_joint_1", "left_arm_3f_finger_b_joint_1", "left_arm_3f_finger_c_joint_1", "right_arm_3f_finger_a_joint_1", "right_arm_3f_finger_b_joint_1", "right_arm_3f_finger_c_joint_1", "left_arm_3f_finger_a_joint_2", "left_arm_3f_finger_b_joint_2", "left_arm_3f_finger_c_joint_2", "right_arm_3f_finger_a_joint_2", "right_arm_3f_finger_b_joint_2", "right_arm_3f_finger_c_joint_2", "left_arm_3f_finger_a_joint_3", "left_arm_3f_finger_b_joint_3", "left_arm_3f_finger_c_joint_3", "right_arm_3f_finger_a_joint_3", "right_arm_3f_finger_b_joint_3", "right_arm_3f_finger_c_joint_3" ]
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1.431758
53
0
53
0
[ "left_arm_shoulder_pan_joint", "right_arm_shoulder_pan_joint", "left_arm_shoulder_lift_joint", "right_arm_shoulder_lift_joint", "left_arm_elbow_joint", "right_arm_elbow_joint", "left_arm_wrist_1_joint", "right_arm_wrist_1_joint", "left_arm_wrist_2_joint", "right_arm_wrist_2_joint", "left_arm_wrist_3_joint", "right_arm_wrist_3_joint", "left_arm_3f_palm_finger_b_joint", "left_arm_3f_palm_finger_c_joint", "right_arm_3f_palm_finger_b_joint", "right_arm_3f_palm_finger_c_joint", "left_arm_3f_finger_a_joint_1", "left_arm_3f_finger_b_joint_1", "left_arm_3f_finger_c_joint_1", "right_arm_3f_finger_a_joint_1", "right_arm_3f_finger_b_joint_1", "right_arm_3f_finger_c_joint_1", "left_arm_3f_finger_a_joint_2", "left_arm_3f_finger_b_joint_2", "left_arm_3f_finger_c_joint_2", "right_arm_3f_finger_a_joint_2", "right_arm_3f_finger_b_joint_2", "right_arm_3f_finger_c_joint_2", "left_arm_3f_finger_a_joint_3", "left_arm_3f_finger_b_joint_3", "left_arm_3f_finger_c_joint_3", "right_arm_3f_finger_a_joint_3", "right_arm_3f_finger_b_joint_3", "right_arm_3f_finger_c_joint_3" ]
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1.458224
54
0
54
0
[ "left_arm_wrist_2_joint", "left_arm_3f_finger_c_joint_1", "right_arm_3f_palm_finger_b_joint", "left_arm_3f_finger_a_joint_3", "right_arm_wrist_3_joint", "left_arm_elbow_joint", "right_arm_3f_finger_b_joint_2", "left_arm_shoulder_lift_joint", "right_arm_3f_finger_c_joint_2", "left_arm_3f_palm_finger_c_joint", "right_arm_3f_finger_a_joint_2", "right_arm_3f_finger_b_joint_1", "right_arm_3f_finger_b_joint_3", "right_arm_3f_finger_a_joint_1", "right_arm_3f_finger_c_joint_1", "right_arm_3f_finger_a_joint_3", "left_arm_3f_finger_b_joint_3", "right_arm_shoulder_lift_joint", "right_arm_shoulder_pan_joint", "right_arm_wrist_2_joint", "right_arm_elbow_joint", "left_arm_3f_finger_c_joint_3", "left_arm_shoulder_pan_joint", "left_arm_3f_finger_c_joint_2", "right_arm_3f_finger_c_joint_3", "right_arm_3f_palm_finger_c_joint", "left_arm_3f_finger_b_joint_2", "left_arm_3f_finger_b_joint_1", "left_arm_3f_palm_finger_b_joint", "left_arm_3f_finger_a_joint_2", "left_arm_3f_finger_a_joint_1", "left_arm_wrist_1_joint", "right_arm_wrist_1_joint", "left_arm_wrist_3_joint" ]
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1.484675
55
0
55
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[ "left_arm_shoulder_pan_joint", "right_arm_shoulder_pan_joint", "left_arm_shoulder_lift_joint", "right_arm_shoulder_lift_joint", "left_arm_elbow_joint", "right_arm_elbow_joint", "left_arm_wrist_1_joint", "right_arm_wrist_1_joint", "left_arm_wrist_2_joint", "right_arm_wrist_2_joint", "left_arm_wrist_3_joint", "right_arm_wrist_3_joint", "left_arm_3f_palm_finger_b_joint", "left_arm_3f_palm_finger_c_joint", "right_arm_3f_palm_finger_b_joint", "right_arm_3f_palm_finger_c_joint", "left_arm_3f_finger_a_joint_1", "left_arm_3f_finger_b_joint_1", "left_arm_3f_finger_c_joint_1", "right_arm_3f_finger_a_joint_1", "right_arm_3f_finger_b_joint_1", "right_arm_3f_finger_c_joint_1", "left_arm_3f_finger_a_joint_2", "left_arm_3f_finger_b_joint_2", "left_arm_3f_finger_c_joint_2", "right_arm_3f_finger_a_joint_2", "right_arm_3f_finger_b_joint_2", "right_arm_3f_finger_c_joint_2", "left_arm_3f_finger_a_joint_3", "left_arm_3f_finger_b_joint_3", "left_arm_3f_finger_c_joint_3", "right_arm_3f_finger_a_joint_3", "right_arm_3f_finger_b_joint_3", "right_arm_3f_finger_c_joint_3" ]
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1.50662
56
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56
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[ "left_arm_shoulder_pan_joint", "right_arm_shoulder_pan_joint", "left_arm_shoulder_lift_joint", "right_arm_shoulder_lift_joint", "left_arm_elbow_joint", "right_arm_elbow_joint", "left_arm_wrist_1_joint", "right_arm_wrist_1_joint", "left_arm_wrist_2_joint", "right_arm_wrist_2_joint", "left_arm_wrist_3_joint", "right_arm_wrist_3_joint", "left_arm_3f_palm_finger_b_joint", "left_arm_3f_palm_finger_c_joint", "right_arm_3f_palm_finger_b_joint", "right_arm_3f_palm_finger_c_joint", "left_arm_3f_finger_a_joint_1", "left_arm_3f_finger_b_joint_1", "left_arm_3f_finger_c_joint_1", "right_arm_3f_finger_a_joint_1", "right_arm_3f_finger_b_joint_1", "right_arm_3f_finger_c_joint_1", "left_arm_3f_finger_a_joint_2", "left_arm_3f_finger_b_joint_2", "left_arm_3f_finger_c_joint_2", "right_arm_3f_finger_a_joint_2", "right_arm_3f_finger_b_joint_2", "right_arm_3f_finger_c_joint_2", "left_arm_3f_finger_a_joint_3", "left_arm_3f_finger_b_joint_3", "left_arm_3f_finger_c_joint_3", "right_arm_3f_finger_a_joint_3", "right_arm_3f_finger_b_joint_3", "right_arm_3f_finger_c_joint_3" ]
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1.533768
57
0
57
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[ "left_arm_shoulder_pan_joint", "right_arm_shoulder_pan_joint", "left_arm_shoulder_lift_joint", "right_arm_shoulder_lift_joint", "left_arm_elbow_joint", "right_arm_elbow_joint", "left_arm_wrist_1_joint", "right_arm_wrist_1_joint", "left_arm_wrist_2_joint", "right_arm_wrist_2_joint", "left_arm_wrist_3_joint", "right_arm_wrist_3_joint", "left_arm_3f_palm_finger_b_joint", "left_arm_3f_palm_finger_c_joint", "right_arm_3f_palm_finger_b_joint", "right_arm_3f_palm_finger_c_joint", "left_arm_3f_finger_a_joint_1", "left_arm_3f_finger_b_joint_1", "left_arm_3f_finger_c_joint_1", "right_arm_3f_finger_a_joint_1", "right_arm_3f_finger_b_joint_1", "right_arm_3f_finger_c_joint_1", "left_arm_3f_finger_a_joint_2", "left_arm_3f_finger_b_joint_2", "left_arm_3f_finger_c_joint_2", "right_arm_3f_finger_a_joint_2", "right_arm_3f_finger_b_joint_2", "right_arm_3f_finger_c_joint_2", "left_arm_3f_finger_a_joint_3", "left_arm_3f_finger_b_joint_3", "left_arm_3f_finger_c_joint_3", "right_arm_3f_finger_a_joint_3", "right_arm_3f_finger_b_joint_3", "right_arm_3f_finger_c_joint_3" ]
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1.558159
58
0
58
0
[ "left_arm_wrist_2_joint", "left_arm_3f_finger_c_joint_1", "right_arm_3f_palm_finger_b_joint", "left_arm_3f_finger_a_joint_3", "right_arm_wrist_3_joint", "left_arm_elbow_joint", "right_arm_3f_finger_b_joint_2", "left_arm_shoulder_lift_joint", "right_arm_3f_finger_c_joint_2", "left_arm_3f_palm_finger_c_joint", "right_arm_3f_finger_a_joint_2", "right_arm_3f_finger_b_joint_1", "right_arm_3f_finger_b_joint_3", "right_arm_3f_finger_a_joint_1", "right_arm_3f_finger_c_joint_1", "right_arm_3f_finger_a_joint_3", "left_arm_3f_finger_b_joint_3", "right_arm_shoulder_lift_joint", "right_arm_shoulder_pan_joint", "right_arm_wrist_2_joint", "right_arm_elbow_joint", "left_arm_3f_finger_c_joint_3", "left_arm_shoulder_pan_joint", "left_arm_3f_finger_c_joint_2", "right_arm_3f_finger_c_joint_3", "right_arm_3f_palm_finger_c_joint", "left_arm_3f_finger_b_joint_2", "left_arm_3f_finger_b_joint_1", "left_arm_3f_palm_finger_b_joint", "left_arm_3f_finger_a_joint_2", "left_arm_3f_finger_a_joint_1", "left_arm_wrist_1_joint", "right_arm_wrist_1_joint", "left_arm_wrist_3_joint" ]
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1.584418
59
0
59
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[ "left_arm_shoulder_pan_joint", "right_arm_shoulder_pan_joint", "left_arm_shoulder_lift_joint", "right_arm_shoulder_lift_joint", "left_arm_elbow_joint", "right_arm_elbow_joint", "left_arm_wrist_1_joint", "right_arm_wrist_1_joint", "left_arm_wrist_2_joint", "right_arm_wrist_2_joint", "left_arm_wrist_3_joint", "right_arm_wrist_3_joint", "left_arm_3f_palm_finger_b_joint", "left_arm_3f_palm_finger_c_joint", "right_arm_3f_palm_finger_b_joint", "right_arm_3f_palm_finger_c_joint", "left_arm_3f_finger_a_joint_1", "left_arm_3f_finger_b_joint_1", "left_arm_3f_finger_c_joint_1", "right_arm_3f_finger_a_joint_1", "right_arm_3f_finger_b_joint_1", "right_arm_3f_finger_c_joint_1", "left_arm_3f_finger_a_joint_2", "left_arm_3f_finger_b_joint_2", "left_arm_3f_finger_c_joint_2", "right_arm_3f_finger_a_joint_2", "right_arm_3f_finger_b_joint_2", "right_arm_3f_finger_c_joint_2", "left_arm_3f_finger_a_joint_3", "left_arm_3f_finger_b_joint_3", "left_arm_3f_finger_c_joint_3", "right_arm_3f_finger_a_joint_3", "right_arm_3f_finger_b_joint_3", "right_arm_3f_finger_c_joint_3" ]
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1.608629
60
0
60
0
[ "left_arm_wrist_2_joint", "left_arm_3f_finger_c_joint_1", "right_arm_3f_palm_finger_b_joint", "left_arm_3f_finger_a_joint_3", "right_arm_wrist_3_joint", "left_arm_elbow_joint", "right_arm_3f_finger_b_joint_2", "left_arm_shoulder_lift_joint", "right_arm_3f_finger_c_joint_2", "left_arm_3f_palm_finger_c_joint", "right_arm_3f_finger_a_joint_2", "right_arm_3f_finger_b_joint_1", "right_arm_3f_finger_b_joint_3", "right_arm_3f_finger_a_joint_1", "right_arm_3f_finger_c_joint_1", "right_arm_3f_finger_a_joint_3", "left_arm_3f_finger_b_joint_3", "right_arm_shoulder_lift_joint", "right_arm_shoulder_pan_joint", "right_arm_wrist_2_joint", "right_arm_elbow_joint", "left_arm_3f_finger_c_joint_3", "left_arm_shoulder_pan_joint", "left_arm_3f_finger_c_joint_2", "right_arm_3f_finger_c_joint_3", "right_arm_3f_palm_finger_c_joint", "left_arm_3f_finger_b_joint_2", "left_arm_3f_finger_b_joint_1", "left_arm_3f_palm_finger_b_joint", "left_arm_3f_finger_a_joint_2", "left_arm_3f_finger_a_joint_1", "left_arm_wrist_1_joint", "right_arm_wrist_1_joint", "left_arm_wrist_3_joint" ]
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1.634507
61
0
61
0
[ "left_arm_shoulder_pan_joint", "right_arm_shoulder_pan_joint", "left_arm_shoulder_lift_joint", "right_arm_shoulder_lift_joint", "left_arm_elbow_joint", "right_arm_elbow_joint", "left_arm_wrist_1_joint", "right_arm_wrist_1_joint", "left_arm_wrist_2_joint", "right_arm_wrist_2_joint", "left_arm_wrist_3_joint", "right_arm_wrist_3_joint", "left_arm_3f_palm_finger_b_joint", "left_arm_3f_palm_finger_c_joint", "right_arm_3f_palm_finger_b_joint", "right_arm_3f_palm_finger_c_joint", "left_arm_3f_finger_a_joint_1", "left_arm_3f_finger_b_joint_1", "left_arm_3f_finger_c_joint_1", "right_arm_3f_finger_a_joint_1", "right_arm_3f_finger_b_joint_1", "right_arm_3f_finger_c_joint_1", "left_arm_3f_finger_a_joint_2", "left_arm_3f_finger_b_joint_2", "left_arm_3f_finger_c_joint_2", "right_arm_3f_finger_a_joint_2", "right_arm_3f_finger_b_joint_2", "right_arm_3f_finger_c_joint_2", "left_arm_3f_finger_a_joint_3", "left_arm_3f_finger_b_joint_3", "left_arm_3f_finger_c_joint_3", "right_arm_3f_finger_a_joint_3", "right_arm_3f_finger_b_joint_3", "right_arm_3f_finger_c_joint_3" ]
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1.658976
62
0
62
0
[ "left_arm_wrist_2_joint", "left_arm_3f_finger_c_joint_1", "right_arm_3f_palm_finger_b_joint", "left_arm_3f_finger_a_joint_3", "right_arm_wrist_3_joint", "left_arm_elbow_joint", "right_arm_3f_finger_b_joint_2", "left_arm_shoulder_lift_joint", "right_arm_3f_finger_c_joint_2", "left_arm_3f_palm_finger_c_joint", "right_arm_3f_finger_a_joint_2", "right_arm_3f_finger_b_joint_1", "right_arm_3f_finger_b_joint_3", "right_arm_3f_finger_a_joint_1", "right_arm_3f_finger_c_joint_1", "right_arm_3f_finger_a_joint_3", "left_arm_3f_finger_b_joint_3", "right_arm_shoulder_lift_joint", "right_arm_shoulder_pan_joint", "right_arm_wrist_2_joint", "right_arm_elbow_joint", "left_arm_3f_finger_c_joint_3", "left_arm_shoulder_pan_joint", "left_arm_3f_finger_c_joint_2", "right_arm_3f_finger_c_joint_3", "right_arm_3f_palm_finger_c_joint", "left_arm_3f_finger_b_joint_2", "left_arm_3f_finger_b_joint_1", "left_arm_3f_palm_finger_b_joint", "left_arm_3f_finger_a_joint_2", "left_arm_3f_finger_a_joint_1", "left_arm_wrist_1_joint", "right_arm_wrist_1_joint", "left_arm_wrist_3_joint" ]
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1.686288
63
0
63
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[ "left_arm_shoulder_pan_joint", "right_arm_shoulder_pan_joint", "left_arm_shoulder_lift_joint", "right_arm_shoulder_lift_joint", "left_arm_elbow_joint", "right_arm_elbow_joint", "left_arm_wrist_1_joint", "right_arm_wrist_1_joint", "left_arm_wrist_2_joint", "right_arm_wrist_2_joint", "left_arm_wrist_3_joint", "right_arm_wrist_3_joint", "left_arm_3f_palm_finger_b_joint", "left_arm_3f_palm_finger_c_joint", "right_arm_3f_palm_finger_b_joint", "right_arm_3f_palm_finger_c_joint", "left_arm_3f_finger_a_joint_1", "left_arm_3f_finger_b_joint_1", "left_arm_3f_finger_c_joint_1", "right_arm_3f_finger_a_joint_1", "right_arm_3f_finger_b_joint_1", "right_arm_3f_finger_c_joint_1", "left_arm_3f_finger_a_joint_2", "left_arm_3f_finger_b_joint_2", "left_arm_3f_finger_c_joint_2", "right_arm_3f_finger_a_joint_2", "right_arm_3f_finger_b_joint_2", "right_arm_3f_finger_c_joint_2", "left_arm_3f_finger_a_joint_3", "left_arm_3f_finger_b_joint_3", "left_arm_3f_finger_c_joint_3", "right_arm_3f_finger_a_joint_3", "right_arm_3f_finger_b_joint_3", "right_arm_3f_finger_c_joint_3" ]
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1.709162
64
0
64
0
[ "left_arm_wrist_2_joint", "left_arm_3f_finger_c_joint_1", "right_arm_3f_palm_finger_b_joint", "left_arm_3f_finger_a_joint_3", "right_arm_wrist_3_joint", "left_arm_elbow_joint", "right_arm_3f_finger_b_joint_2", "left_arm_shoulder_lift_joint", "right_arm_3f_finger_c_joint_2", "left_arm_3f_palm_finger_c_joint", "right_arm_3f_finger_a_joint_2", "right_arm_3f_finger_b_joint_1", "right_arm_3f_finger_b_joint_3", "right_arm_3f_finger_a_joint_1", "right_arm_3f_finger_c_joint_1", "right_arm_3f_finger_a_joint_3", "left_arm_3f_finger_b_joint_3", "right_arm_shoulder_lift_joint", "right_arm_shoulder_pan_joint", "right_arm_wrist_2_joint", "right_arm_elbow_joint", "left_arm_3f_finger_c_joint_3", "left_arm_shoulder_pan_joint", "left_arm_3f_finger_c_joint_2", "right_arm_3f_finger_c_joint_3", "right_arm_3f_palm_finger_c_joint", "left_arm_3f_finger_b_joint_2", "left_arm_3f_finger_b_joint_1", "left_arm_3f_palm_finger_b_joint", "left_arm_3f_finger_a_joint_2", "left_arm_3f_finger_a_joint_1", "left_arm_wrist_1_joint", "right_arm_wrist_1_joint", "left_arm_wrist_3_joint" ]
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1.734693
65
0
65
0
[ "left_arm_shoulder_pan_joint", "right_arm_shoulder_pan_joint", "left_arm_shoulder_lift_joint", "right_arm_shoulder_lift_joint", "left_arm_elbow_joint", "right_arm_elbow_joint", "left_arm_wrist_1_joint", "right_arm_wrist_1_joint", "left_arm_wrist_2_joint", "right_arm_wrist_2_joint", "left_arm_wrist_3_joint", "right_arm_wrist_3_joint", "left_arm_3f_palm_finger_b_joint", "left_arm_3f_palm_finger_c_joint", "right_arm_3f_palm_finger_b_joint", "right_arm_3f_palm_finger_c_joint", "left_arm_3f_finger_a_joint_1", "left_arm_3f_finger_b_joint_1", "left_arm_3f_finger_c_joint_1", "right_arm_3f_finger_a_joint_1", "right_arm_3f_finger_b_joint_1", "right_arm_3f_finger_c_joint_1", "left_arm_3f_finger_a_joint_2", "left_arm_3f_finger_b_joint_2", "left_arm_3f_finger_c_joint_2", "right_arm_3f_finger_a_joint_2", "right_arm_3f_finger_b_joint_2", "right_arm_3f_finger_c_joint_2", "left_arm_3f_finger_a_joint_3", "left_arm_3f_finger_b_joint_3", "left_arm_3f_finger_c_joint_3", "right_arm_3f_finger_a_joint_3", "right_arm_3f_finger_b_joint_3", "right_arm_3f_finger_c_joint_3" ]
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1.760408
66
0
66
0
[ "left_arm_wrist_2_joint", "left_arm_3f_finger_c_joint_1", "right_arm_3f_palm_finger_b_joint", "left_arm_3f_finger_a_joint_3", "right_arm_wrist_3_joint", "left_arm_elbow_joint", "right_arm_3f_finger_b_joint_2", "left_arm_shoulder_lift_joint", "right_arm_3f_finger_c_joint_2", "left_arm_3f_palm_finger_c_joint", "right_arm_3f_finger_a_joint_2", "right_arm_3f_finger_b_joint_1", "right_arm_3f_finger_b_joint_3", "right_arm_3f_finger_a_joint_1", "right_arm_3f_finger_c_joint_1", "right_arm_3f_finger_a_joint_3", "left_arm_3f_finger_b_joint_3", "right_arm_shoulder_lift_joint", "right_arm_shoulder_pan_joint", "right_arm_wrist_2_joint", "right_arm_elbow_joint", "left_arm_3f_finger_c_joint_3", "left_arm_shoulder_pan_joint", "left_arm_3f_finger_c_joint_2", "right_arm_3f_finger_c_joint_3", "right_arm_3f_palm_finger_c_joint", "left_arm_3f_finger_b_joint_2", "left_arm_3f_finger_b_joint_1", "left_arm_3f_palm_finger_b_joint", "left_arm_3f_finger_a_joint_2", "left_arm_3f_finger_a_joint_1", "left_arm_wrist_1_joint", "right_arm_wrist_1_joint", "left_arm_wrist_3_joint" ]
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1.78659
67
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67
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[ "left_arm_shoulder_pan_joint", "right_arm_shoulder_pan_joint", "left_arm_shoulder_lift_joint", "right_arm_shoulder_lift_joint", "left_arm_elbow_joint", "right_arm_elbow_joint", "left_arm_wrist_1_joint", "right_arm_wrist_1_joint", "left_arm_wrist_2_joint", "right_arm_wrist_2_joint", "left_arm_wrist_3_joint", "right_arm_wrist_3_joint", "left_arm_3f_palm_finger_b_joint", "left_arm_3f_palm_finger_c_joint", "right_arm_3f_palm_finger_b_joint", "right_arm_3f_palm_finger_c_joint", "left_arm_3f_finger_a_joint_1", "left_arm_3f_finger_b_joint_1", "left_arm_3f_finger_c_joint_1", "right_arm_3f_finger_a_joint_1", "right_arm_3f_finger_b_joint_1", "right_arm_3f_finger_c_joint_1", "left_arm_3f_finger_a_joint_2", "left_arm_3f_finger_b_joint_2", "left_arm_3f_finger_c_joint_2", "right_arm_3f_finger_a_joint_2", "right_arm_3f_finger_b_joint_2", "right_arm_3f_finger_c_joint_2", "left_arm_3f_finger_a_joint_3", "left_arm_3f_finger_b_joint_3", "left_arm_3f_finger_c_joint_3", "right_arm_3f_finger_a_joint_3", "right_arm_3f_finger_b_joint_3", "right_arm_3f_finger_c_joint_3" ]
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1.807763
68
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68
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[ "left_arm_shoulder_pan_joint", "right_arm_shoulder_pan_joint", "left_arm_shoulder_lift_joint", "right_arm_shoulder_lift_joint", "left_arm_elbow_joint", "right_arm_elbow_joint", "left_arm_wrist_1_joint", "right_arm_wrist_1_joint", "left_arm_wrist_2_joint", "right_arm_wrist_2_joint", "left_arm_wrist_3_joint", "right_arm_wrist_3_joint", "left_arm_3f_palm_finger_b_joint", "left_arm_3f_palm_finger_c_joint", "right_arm_3f_palm_finger_b_joint", "right_arm_3f_palm_finger_c_joint", "left_arm_3f_finger_a_joint_1", "left_arm_3f_finger_b_joint_1", "left_arm_3f_finger_c_joint_1", "right_arm_3f_finger_a_joint_1", "right_arm_3f_finger_b_joint_1", "right_arm_3f_finger_c_joint_1", "left_arm_3f_finger_a_joint_2", "left_arm_3f_finger_b_joint_2", "left_arm_3f_finger_c_joint_2", "right_arm_3f_finger_a_joint_2", "right_arm_3f_finger_b_joint_2", "right_arm_3f_finger_c_joint_2", "left_arm_3f_finger_a_joint_3", "left_arm_3f_finger_b_joint_3", "left_arm_3f_finger_c_joint_3", "right_arm_3f_finger_a_joint_3", "right_arm_3f_finger_b_joint_3", "right_arm_3f_finger_c_joint_3" ]
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1.834848
69
0
69
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[ "left_arm_shoulder_pan_joint", "right_arm_shoulder_pan_joint", "left_arm_shoulder_lift_joint", "right_arm_shoulder_lift_joint", "left_arm_elbow_joint", "right_arm_elbow_joint", "left_arm_wrist_1_joint", "right_arm_wrist_1_joint", "left_arm_wrist_2_joint", "right_arm_wrist_2_joint", "left_arm_wrist_3_joint", "right_arm_wrist_3_joint", "left_arm_3f_palm_finger_b_joint", "left_arm_3f_palm_finger_c_joint", "right_arm_3f_palm_finger_b_joint", "right_arm_3f_palm_finger_c_joint", "left_arm_3f_finger_a_joint_1", "left_arm_3f_finger_b_joint_1", "left_arm_3f_finger_c_joint_1", "right_arm_3f_finger_a_joint_1", "right_arm_3f_finger_b_joint_1", "right_arm_3f_finger_c_joint_1", "left_arm_3f_finger_a_joint_2", "left_arm_3f_finger_b_joint_2", "left_arm_3f_finger_c_joint_2", "right_arm_3f_finger_a_joint_2", "right_arm_3f_finger_b_joint_2", "right_arm_3f_finger_c_joint_2", "left_arm_3f_finger_a_joint_3", "left_arm_3f_finger_b_joint_3", "left_arm_3f_finger_c_joint_3", "right_arm_3f_finger_a_joint_3", "right_arm_3f_finger_b_joint_3", "right_arm_3f_finger_c_joint_3" ]
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1.862264
70
0
70
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[ "left_arm_shoulder_pan_joint", "right_arm_shoulder_pan_joint", "left_arm_shoulder_lift_joint", "right_arm_shoulder_lift_joint", "left_arm_elbow_joint", "right_arm_elbow_joint", "left_arm_wrist_1_joint", "right_arm_wrist_1_joint", "left_arm_wrist_2_joint", "right_arm_wrist_2_joint", "left_arm_wrist_3_joint", "right_arm_wrist_3_joint", "left_arm_3f_palm_finger_b_joint", "left_arm_3f_palm_finger_c_joint", "right_arm_3f_palm_finger_b_joint", "right_arm_3f_palm_finger_c_joint", "left_arm_3f_finger_a_joint_1", "left_arm_3f_finger_b_joint_1", "left_arm_3f_finger_c_joint_1", "right_arm_3f_finger_a_joint_1", "right_arm_3f_finger_b_joint_1", "right_arm_3f_finger_c_joint_1", "left_arm_3f_finger_a_joint_2", "left_arm_3f_finger_b_joint_2", "left_arm_3f_finger_c_joint_2", "right_arm_3f_finger_a_joint_2", "right_arm_3f_finger_b_joint_2", "right_arm_3f_finger_c_joint_2", "left_arm_3f_finger_a_joint_3", "left_arm_3f_finger_b_joint_3", "left_arm_3f_finger_c_joint_3", "right_arm_3f_finger_a_joint_3", "right_arm_3f_finger_b_joint_3", "right_arm_3f_finger_c_joint_3" ]
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1.88958
71
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71
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[ "left_arm_wrist_2_joint", "left_arm_3f_finger_c_joint_1", "right_arm_3f_palm_finger_b_joint", "left_arm_3f_finger_a_joint_3", "right_arm_wrist_3_joint", "left_arm_elbow_joint", "right_arm_3f_finger_b_joint_2", "left_arm_shoulder_lift_joint", "right_arm_3f_finger_c_joint_2", "left_arm_3f_palm_finger_c_joint", "right_arm_3f_finger_a_joint_2", "right_arm_3f_finger_b_joint_1", "right_arm_3f_finger_b_joint_3", "right_arm_3f_finger_a_joint_1", "right_arm_3f_finger_c_joint_1", "right_arm_3f_finger_a_joint_3", "left_arm_3f_finger_b_joint_3", "right_arm_shoulder_lift_joint", "right_arm_shoulder_pan_joint", "right_arm_wrist_2_joint", "right_arm_elbow_joint", "left_arm_3f_finger_c_joint_3", "left_arm_shoulder_pan_joint", "left_arm_3f_finger_c_joint_2", "right_arm_3f_finger_c_joint_3", "right_arm_3f_palm_finger_c_joint", "left_arm_3f_finger_b_joint_2", "left_arm_3f_finger_b_joint_1", "left_arm_3f_palm_finger_b_joint", "left_arm_3f_finger_a_joint_2", "left_arm_3f_finger_a_joint_1", "left_arm_wrist_1_joint", "right_arm_wrist_1_joint", "left_arm_wrist_3_joint" ]
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1.917357
72
0
72
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[ "left_arm_shoulder_pan_joint", "right_arm_shoulder_pan_joint", "left_arm_shoulder_lift_joint", "right_arm_shoulder_lift_joint", "left_arm_elbow_joint", "right_arm_elbow_joint", "left_arm_wrist_1_joint", "right_arm_wrist_1_joint", "left_arm_wrist_2_joint", "right_arm_wrist_2_joint", "left_arm_wrist_3_joint", "right_arm_wrist_3_joint", "left_arm_3f_palm_finger_b_joint", "left_arm_3f_palm_finger_c_joint", "right_arm_3f_palm_finger_b_joint", "right_arm_3f_palm_finger_c_joint", "left_arm_3f_finger_a_joint_1", "left_arm_3f_finger_b_joint_1", "left_arm_3f_finger_c_joint_1", "right_arm_3f_finger_a_joint_1", "right_arm_3f_finger_b_joint_1", "right_arm_3f_finger_c_joint_1", "left_arm_3f_finger_a_joint_2", "left_arm_3f_finger_b_joint_2", "left_arm_3f_finger_c_joint_2", "right_arm_3f_finger_a_joint_2", "right_arm_3f_finger_b_joint_2", "right_arm_3f_finger_c_joint_2", "left_arm_3f_finger_a_joint_3", "left_arm_3f_finger_b_joint_3", "left_arm_3f_finger_c_joint_3", "right_arm_3f_finger_a_joint_3", "right_arm_3f_finger_b_joint_3", "right_arm_3f_finger_c_joint_3" ]
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1.943711
73
0
73
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[ "left_arm_shoulder_pan_joint", "right_arm_shoulder_pan_joint", "left_arm_shoulder_lift_joint", "right_arm_shoulder_lift_joint", "left_arm_elbow_joint", "right_arm_elbow_joint", "left_arm_wrist_1_joint", "right_arm_wrist_1_joint", "left_arm_wrist_2_joint", "right_arm_wrist_2_joint", "left_arm_wrist_3_joint", "right_arm_wrist_3_joint", "left_arm_3f_palm_finger_b_joint", "left_arm_3f_palm_finger_c_joint", "right_arm_3f_palm_finger_b_joint", "right_arm_3f_palm_finger_c_joint", "left_arm_3f_finger_a_joint_1", "left_arm_3f_finger_b_joint_1", "left_arm_3f_finger_c_joint_1", "right_arm_3f_finger_a_joint_1", "right_arm_3f_finger_b_joint_1", "right_arm_3f_finger_c_joint_1", "left_arm_3f_finger_a_joint_2", "left_arm_3f_finger_b_joint_2", "left_arm_3f_finger_c_joint_2", "right_arm_3f_finger_a_joint_2", "right_arm_3f_finger_b_joint_2", "right_arm_3f_finger_c_joint_2", "left_arm_3f_finger_a_joint_3", "left_arm_3f_finger_b_joint_3", "left_arm_3f_finger_c_joint_3", "right_arm_3f_finger_a_joint_3", "right_arm_3f_finger_b_joint_3", "right_arm_3f_finger_c_joint_3" ]
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1.973604
74
0
74
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[ "left_arm_shoulder_pan_joint", "right_arm_shoulder_pan_joint", "left_arm_shoulder_lift_joint", "right_arm_shoulder_lift_joint", "left_arm_elbow_joint", "right_arm_elbow_joint", "left_arm_wrist_1_joint", "right_arm_wrist_1_joint", "left_arm_wrist_2_joint", "right_arm_wrist_2_joint", "left_arm_wrist_3_joint", "right_arm_wrist_3_joint", "left_arm_3f_palm_finger_b_joint", "left_arm_3f_palm_finger_c_joint", "right_arm_3f_palm_finger_b_joint", "right_arm_3f_palm_finger_c_joint", "left_arm_3f_finger_a_joint_1", "left_arm_3f_finger_b_joint_1", "left_arm_3f_finger_c_joint_1", "right_arm_3f_finger_a_joint_1", "right_arm_3f_finger_b_joint_1", "right_arm_3f_finger_c_joint_1", "left_arm_3f_finger_a_joint_2", "left_arm_3f_finger_b_joint_2", "left_arm_3f_finger_c_joint_2", "right_arm_3f_finger_a_joint_2", "right_arm_3f_finger_b_joint_2", "right_arm_3f_finger_c_joint_2", "left_arm_3f_finger_a_joint_3", "left_arm_3f_finger_b_joint_3", "left_arm_3f_finger_c_joint_3", "right_arm_3f_finger_a_joint_3", "right_arm_3f_finger_b_joint_3", "right_arm_3f_finger_c_joint_3" ]
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[ "left_arm_shoulder_pan_joint", "right_arm_shoulder_pan_joint", "left_arm_shoulder_lift_joint", "right_arm_shoulder_lift_joint", "left_arm_elbow_joint", "right_arm_elbow_joint", "left_arm_wrist_1_joint", "right_arm_wrist_1_joint", "left_arm_wrist_2_joint", "right_arm_wrist_2_joint", "left_arm_wrist_3_joint", "right_arm_wrist_3_joint", "left_arm_3f_palm_finger_b_joint", "left_arm_3f_palm_finger_c_joint", "right_arm_3f_palm_finger_b_joint", "right_arm_3f_palm_finger_c_joint", "left_arm_3f_finger_a_joint_1", "left_arm_3f_finger_b_joint_1", "left_arm_3f_finger_c_joint_1", "right_arm_3f_finger_a_joint_1", "right_arm_3f_finger_b_joint_1", "right_arm_3f_finger_c_joint_1", "left_arm_3f_finger_a_joint_2", "left_arm_3f_finger_b_joint_2", "left_arm_3f_finger_c_joint_2", "right_arm_3f_finger_a_joint_2", "right_arm_3f_finger_b_joint_2", "right_arm_3f_finger_c_joint_2", "left_arm_3f_finger_a_joint_3", "left_arm_3f_finger_b_joint_3", "left_arm_3f_finger_c_joint_3", "right_arm_3f_finger_a_joint_3", "right_arm_3f_finger_b_joint_3", "right_arm_3f_finger_c_joint_3" ]
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2.032124
76
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76
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[ "left_arm_wrist_2_joint", "left_arm_3f_finger_c_joint_1", "right_arm_3f_palm_finger_b_joint", "left_arm_3f_finger_a_joint_3", "right_arm_wrist_3_joint", "left_arm_elbow_joint", "right_arm_3f_finger_b_joint_2", "left_arm_shoulder_lift_joint", "right_arm_3f_finger_c_joint_2", "left_arm_3f_palm_finger_c_joint", "right_arm_3f_finger_a_joint_2", "right_arm_3f_finger_b_joint_1", "right_arm_3f_finger_b_joint_3", "right_arm_3f_finger_a_joint_1", "right_arm_3f_finger_c_joint_1", "right_arm_3f_finger_a_joint_3", "left_arm_3f_finger_b_joint_3", "right_arm_shoulder_lift_joint", "right_arm_shoulder_pan_joint", "right_arm_wrist_2_joint", "right_arm_elbow_joint", "left_arm_3f_finger_c_joint_3", "left_arm_shoulder_pan_joint", "left_arm_3f_finger_c_joint_2", "right_arm_3f_finger_c_joint_3", "right_arm_3f_palm_finger_c_joint", "left_arm_3f_finger_b_joint_2", "left_arm_3f_finger_b_joint_1", "left_arm_3f_palm_finger_b_joint", "left_arm_3f_finger_a_joint_2", "left_arm_3f_finger_a_joint_1", "left_arm_wrist_1_joint", "right_arm_wrist_1_joint", "left_arm_wrist_3_joint" ]
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2.08206
77
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77
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[ "left_arm_shoulder_pan_joint", "right_arm_shoulder_pan_joint", "left_arm_shoulder_lift_joint", "right_arm_shoulder_lift_joint", "left_arm_elbow_joint", "right_arm_elbow_joint", "left_arm_wrist_1_joint", "right_arm_wrist_1_joint", "left_arm_wrist_2_joint", "right_arm_wrist_2_joint", "left_arm_wrist_3_joint", "right_arm_wrist_3_joint", "left_arm_3f_palm_finger_b_joint", "left_arm_3f_palm_finger_c_joint", "right_arm_3f_palm_finger_b_joint", "right_arm_3f_palm_finger_c_joint", "left_arm_3f_finger_a_joint_1", "left_arm_3f_finger_b_joint_1", "left_arm_3f_finger_c_joint_1", "right_arm_3f_finger_a_joint_1", "right_arm_3f_finger_b_joint_1", "right_arm_3f_finger_c_joint_1", "left_arm_3f_finger_a_joint_2", "left_arm_3f_finger_b_joint_2", "left_arm_3f_finger_c_joint_2", "right_arm_3f_finger_a_joint_2", "right_arm_3f_finger_b_joint_2", "right_arm_3f_finger_c_joint_2", "left_arm_3f_finger_a_joint_3", "left_arm_3f_finger_b_joint_3", "left_arm_3f_finger_c_joint_3", "right_arm_3f_finger_a_joint_3", "right_arm_3f_finger_b_joint_3", "right_arm_3f_finger_c_joint_3" ]
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2.110502
78
0
78
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[ "left_arm_wrist_2_joint", "left_arm_3f_finger_c_joint_1", "right_arm_3f_palm_finger_b_joint", "left_arm_3f_finger_a_joint_3", "right_arm_wrist_3_joint", "left_arm_elbow_joint", "right_arm_3f_finger_b_joint_2", "left_arm_shoulder_lift_joint", "right_arm_3f_finger_c_joint_2", "left_arm_3f_palm_finger_c_joint", "right_arm_3f_finger_a_joint_2", "right_arm_3f_finger_b_joint_1", "right_arm_3f_finger_b_joint_3", "right_arm_3f_finger_a_joint_1", "right_arm_3f_finger_c_joint_1", "right_arm_3f_finger_a_joint_3", "left_arm_3f_finger_b_joint_3", "right_arm_shoulder_lift_joint", "right_arm_shoulder_pan_joint", "right_arm_wrist_2_joint", "right_arm_elbow_joint", "left_arm_3f_finger_c_joint_3", "left_arm_shoulder_pan_joint", "left_arm_3f_finger_c_joint_2", "right_arm_3f_finger_c_joint_3", "right_arm_3f_palm_finger_c_joint", "left_arm_3f_finger_b_joint_2", "left_arm_3f_finger_b_joint_1", "left_arm_3f_palm_finger_b_joint", "left_arm_3f_finger_a_joint_2", "left_arm_3f_finger_a_joint_1", "left_arm_wrist_1_joint", "right_arm_wrist_1_joint", "left_arm_wrist_3_joint" ]
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2.158113
79
0
79
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[ "left_arm_shoulder_pan_joint", "right_arm_shoulder_pan_joint", "left_arm_shoulder_lift_joint", "right_arm_shoulder_lift_joint", "left_arm_elbow_joint", "right_arm_elbow_joint", "left_arm_wrist_1_joint", "right_arm_wrist_1_joint", "left_arm_wrist_2_joint", "right_arm_wrist_2_joint", "left_arm_wrist_3_joint", "right_arm_wrist_3_joint", "left_arm_3f_palm_finger_b_joint", "left_arm_3f_palm_finger_c_joint", "right_arm_3f_palm_finger_b_joint", "right_arm_3f_palm_finger_c_joint", "left_arm_3f_finger_a_joint_1", "left_arm_3f_finger_b_joint_1", "left_arm_3f_finger_c_joint_1", "right_arm_3f_finger_a_joint_1", "right_arm_3f_finger_b_joint_1", "right_arm_3f_finger_c_joint_1", "left_arm_3f_finger_a_joint_2", "left_arm_3f_finger_b_joint_2", "left_arm_3f_finger_c_joint_2", "right_arm_3f_finger_a_joint_2", "right_arm_3f_finger_b_joint_2", "right_arm_3f_finger_c_joint_2", "left_arm_3f_finger_a_joint_3", "left_arm_3f_finger_b_joint_3", "left_arm_3f_finger_c_joint_3", "right_arm_3f_finger_a_joint_3", "right_arm_3f_finger_b_joint_3", "right_arm_3f_finger_c_joint_3" ]
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2.179752
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[ "left_arm_wrist_2_joint", "left_arm_3f_finger_c_joint_1", "right_arm_3f_palm_finger_b_joint", "left_arm_3f_finger_a_joint_3", "right_arm_wrist_3_joint", "left_arm_elbow_joint", "right_arm_3f_finger_b_joint_2", "left_arm_shoulder_lift_joint", "right_arm_3f_finger_c_joint_2", "left_arm_3f_palm_finger_c_joint", "right_arm_3f_finger_a_joint_2", "right_arm_3f_finger_b_joint_1", "right_arm_3f_finger_b_joint_3", "right_arm_3f_finger_a_joint_1", "right_arm_3f_finger_c_joint_1", "right_arm_3f_finger_a_joint_3", "left_arm_3f_finger_b_joint_3", "right_arm_shoulder_lift_joint", "right_arm_shoulder_pan_joint", "right_arm_wrist_2_joint", "right_arm_elbow_joint", "left_arm_3f_finger_c_joint_3", "left_arm_shoulder_pan_joint", "left_arm_3f_finger_c_joint_2", "right_arm_3f_finger_c_joint_3", "right_arm_3f_palm_finger_c_joint", "left_arm_3f_finger_b_joint_2", "left_arm_3f_finger_b_joint_1", "left_arm_3f_palm_finger_b_joint", "left_arm_3f_finger_a_joint_2", "left_arm_3f_finger_a_joint_1", "left_arm_wrist_1_joint", "right_arm_wrist_1_joint", "left_arm_wrist_3_joint" ]
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2.225883
81
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81
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[ "left_arm_shoulder_pan_joint", "right_arm_shoulder_pan_joint", "left_arm_shoulder_lift_joint", "right_arm_shoulder_lift_joint", "left_arm_elbow_joint", "right_arm_elbow_joint", "left_arm_wrist_1_joint", "right_arm_wrist_1_joint", "left_arm_wrist_2_joint", "right_arm_wrist_2_joint", "left_arm_wrist_3_joint", "right_arm_wrist_3_joint", "left_arm_3f_palm_finger_b_joint", "left_arm_3f_palm_finger_c_joint", "right_arm_3f_palm_finger_b_joint", "right_arm_3f_palm_finger_c_joint", "left_arm_3f_finger_a_joint_1", "left_arm_3f_finger_b_joint_1", "left_arm_3f_finger_c_joint_1", "right_arm_3f_finger_a_joint_1", "right_arm_3f_finger_b_joint_1", "right_arm_3f_finger_c_joint_1", "left_arm_3f_finger_a_joint_2", "left_arm_3f_finger_b_joint_2", "left_arm_3f_finger_c_joint_2", "right_arm_3f_finger_a_joint_2", "right_arm_3f_finger_b_joint_2", "right_arm_3f_finger_c_joint_2", "left_arm_3f_finger_a_joint_3", "left_arm_3f_finger_b_joint_3", "left_arm_3f_finger_c_joint_3", "right_arm_3f_finger_a_joint_3", "right_arm_3f_finger_b_joint_3", "right_arm_3f_finger_c_joint_3" ]
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2.248103
82
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82
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[ "left_arm_wrist_2_joint", "left_arm_3f_finger_c_joint_1", "right_arm_3f_palm_finger_b_joint", "left_arm_3f_finger_a_joint_3", "right_arm_wrist_3_joint", "left_arm_elbow_joint", "right_arm_3f_finger_b_joint_2", "left_arm_shoulder_lift_joint", "right_arm_3f_finger_c_joint_2", "left_arm_3f_palm_finger_c_joint", "right_arm_3f_finger_a_joint_2", "right_arm_3f_finger_b_joint_1", "right_arm_3f_finger_b_joint_3", "right_arm_3f_finger_a_joint_1", "right_arm_3f_finger_c_joint_1", "right_arm_3f_finger_a_joint_3", "left_arm_3f_finger_b_joint_3", "right_arm_shoulder_lift_joint", "right_arm_shoulder_pan_joint", "right_arm_wrist_2_joint", "right_arm_elbow_joint", "left_arm_3f_finger_c_joint_3", "left_arm_shoulder_pan_joint", "left_arm_3f_finger_c_joint_2", "right_arm_3f_finger_c_joint_3", "right_arm_3f_palm_finger_c_joint", "left_arm_3f_finger_b_joint_2", "left_arm_3f_finger_b_joint_1", "left_arm_3f_palm_finger_b_joint", "left_arm_3f_finger_a_joint_2", "left_arm_3f_finger_a_joint_1", "left_arm_wrist_1_joint", "right_arm_wrist_1_joint", "left_arm_wrist_3_joint" ]
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2.29647
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[ "left_arm_shoulder_pan_joint", "right_arm_shoulder_pan_joint", "left_arm_shoulder_lift_joint", "right_arm_shoulder_lift_joint", "left_arm_elbow_joint", "right_arm_elbow_joint", "left_arm_wrist_1_joint", "right_arm_wrist_1_joint", "left_arm_wrist_2_joint", "right_arm_wrist_2_joint", "left_arm_wrist_3_joint", "right_arm_wrist_3_joint", "left_arm_3f_palm_finger_b_joint", "left_arm_3f_palm_finger_c_joint", "right_arm_3f_palm_finger_b_joint", "right_arm_3f_palm_finger_c_joint", "left_arm_3f_finger_a_joint_1", "left_arm_3f_finger_b_joint_1", "left_arm_3f_finger_c_joint_1", "right_arm_3f_finger_a_joint_1", "right_arm_3f_finger_b_joint_1", "right_arm_3f_finger_c_joint_1", "left_arm_3f_finger_a_joint_2", "left_arm_3f_finger_b_joint_2", "left_arm_3f_finger_c_joint_2", "right_arm_3f_finger_a_joint_2", "right_arm_3f_finger_b_joint_2", "right_arm_3f_finger_c_joint_2", "left_arm_3f_finger_a_joint_3", "left_arm_3f_finger_b_joint_3", "left_arm_3f_finger_c_joint_3", "right_arm_3f_finger_a_joint_3", "right_arm_3f_finger_b_joint_3", "right_arm_3f_finger_c_joint_3" ]
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2.32114
84
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84
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[ "left_arm_shoulder_pan_joint", "right_arm_shoulder_pan_joint", "left_arm_shoulder_lift_joint", "right_arm_shoulder_lift_joint", "left_arm_elbow_joint", "right_arm_elbow_joint", "left_arm_wrist_1_joint", "right_arm_wrist_1_joint", "left_arm_wrist_2_joint", "right_arm_wrist_2_joint", "left_arm_wrist_3_joint", "right_arm_wrist_3_joint", "left_arm_3f_palm_finger_b_joint", "left_arm_3f_palm_finger_c_joint", "right_arm_3f_palm_finger_b_joint", "right_arm_3f_palm_finger_c_joint", "left_arm_3f_finger_a_joint_1", "left_arm_3f_finger_b_joint_1", "left_arm_3f_finger_c_joint_1", "right_arm_3f_finger_a_joint_1", "right_arm_3f_finger_b_joint_1", "right_arm_3f_finger_c_joint_1", "left_arm_3f_finger_a_joint_2", "left_arm_3f_finger_b_joint_2", "left_arm_3f_finger_c_joint_2", "right_arm_3f_finger_a_joint_2", "right_arm_3f_finger_b_joint_2", "right_arm_3f_finger_c_joint_2", "left_arm_3f_finger_a_joint_3", "left_arm_3f_finger_b_joint_3", "left_arm_3f_finger_c_joint_3", "right_arm_3f_finger_a_joint_3", "right_arm_3f_finger_b_joint_3", "right_arm_3f_finger_c_joint_3" ]
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2.369879
85
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85
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[ "left_arm_wrist_2_joint", "left_arm_3f_finger_c_joint_1", "right_arm_3f_palm_finger_b_joint", "left_arm_3f_finger_a_joint_3", "right_arm_wrist_3_joint", "left_arm_elbow_joint", "right_arm_3f_finger_b_joint_2", "left_arm_shoulder_lift_joint", "right_arm_3f_finger_c_joint_2", "left_arm_3f_palm_finger_c_joint", "right_arm_3f_finger_a_joint_2", "right_arm_3f_finger_b_joint_1", "right_arm_3f_finger_b_joint_3", "right_arm_3f_finger_a_joint_1", "right_arm_3f_finger_c_joint_1", "right_arm_3f_finger_a_joint_3", "left_arm_3f_finger_b_joint_3", "right_arm_shoulder_lift_joint", "right_arm_shoulder_pan_joint", "right_arm_wrist_2_joint", "right_arm_elbow_joint", "left_arm_3f_finger_c_joint_3", "left_arm_shoulder_pan_joint", "left_arm_3f_finger_c_joint_2", "right_arm_3f_finger_c_joint_3", "right_arm_3f_palm_finger_c_joint", "left_arm_3f_finger_b_joint_2", "left_arm_3f_finger_b_joint_1", "left_arm_3f_palm_finger_b_joint", "left_arm_3f_finger_a_joint_2", "left_arm_3f_finger_a_joint_1", "left_arm_wrist_1_joint", "right_arm_wrist_1_joint", "left_arm_wrist_3_joint" ]
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2.398059
86
0
86
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[ "left_arm_wrist_2_joint", "left_arm_3f_finger_c_joint_1", "right_arm_3f_palm_finger_b_joint", "left_arm_3f_finger_a_joint_3", "right_arm_wrist_3_joint", "left_arm_elbow_joint", "right_arm_3f_finger_b_joint_2", "left_arm_shoulder_lift_joint", "right_arm_3f_finger_c_joint_2", "left_arm_3f_palm_finger_c_joint", "right_arm_3f_finger_a_joint_2", "right_arm_3f_finger_b_joint_1", "right_arm_3f_finger_b_joint_3", "right_arm_3f_finger_a_joint_1", "right_arm_3f_finger_c_joint_1", "right_arm_3f_finger_a_joint_3", "left_arm_3f_finger_b_joint_3", "right_arm_shoulder_lift_joint", "right_arm_shoulder_pan_joint", "right_arm_wrist_2_joint", "right_arm_elbow_joint", "left_arm_3f_finger_c_joint_3", "left_arm_shoulder_pan_joint", "left_arm_3f_finger_c_joint_2", "right_arm_3f_finger_c_joint_3", "right_arm_3f_palm_finger_c_joint", "left_arm_3f_finger_b_joint_2", "left_arm_3f_finger_b_joint_1", "left_arm_3f_palm_finger_b_joint", "left_arm_3f_finger_a_joint_2", "left_arm_3f_finger_a_joint_1", "left_arm_wrist_1_joint", "right_arm_wrist_1_joint", "left_arm_wrist_3_joint" ]
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2.447474
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87
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[ "left_arm_shoulder_pan_joint", "right_arm_shoulder_pan_joint", "left_arm_shoulder_lift_joint", "right_arm_shoulder_lift_joint", "left_arm_elbow_joint", "right_arm_elbow_joint", "left_arm_wrist_1_joint", "right_arm_wrist_1_joint", "left_arm_wrist_2_joint", "right_arm_wrist_2_joint", "left_arm_wrist_3_joint", "right_arm_wrist_3_joint", "left_arm_3f_palm_finger_b_joint", "left_arm_3f_palm_finger_c_joint", "right_arm_3f_palm_finger_b_joint", "right_arm_3f_palm_finger_c_joint", "left_arm_3f_finger_a_joint_1", "left_arm_3f_finger_b_joint_1", "left_arm_3f_finger_c_joint_1", "right_arm_3f_finger_a_joint_1", "right_arm_3f_finger_b_joint_1", "right_arm_3f_finger_c_joint_1", "left_arm_3f_finger_a_joint_2", "left_arm_3f_finger_b_joint_2", "left_arm_3f_finger_c_joint_2", "right_arm_3f_finger_a_joint_2", "right_arm_3f_finger_b_joint_2", "right_arm_3f_finger_c_joint_2", "left_arm_3f_finger_a_joint_3", "left_arm_3f_finger_b_joint_3", "left_arm_3f_finger_c_joint_3", "right_arm_3f_finger_a_joint_3", "right_arm_3f_finger_b_joint_3", "right_arm_3f_finger_c_joint_3" ]
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2.473945
88
0
88
0
[ "left_arm_shoulder_pan_joint", "right_arm_shoulder_pan_joint", "left_arm_shoulder_lift_joint", "right_arm_shoulder_lift_joint", "left_arm_elbow_joint", "right_arm_elbow_joint", "left_arm_wrist_1_joint", "right_arm_wrist_1_joint", "left_arm_wrist_2_joint", "right_arm_wrist_2_joint", "left_arm_wrist_3_joint", "right_arm_wrist_3_joint", "left_arm_3f_palm_finger_b_joint", "left_arm_3f_palm_finger_c_joint", "right_arm_3f_palm_finger_b_joint", "right_arm_3f_palm_finger_c_joint", "left_arm_3f_finger_a_joint_1", "left_arm_3f_finger_b_joint_1", "left_arm_3f_finger_c_joint_1", "right_arm_3f_finger_a_joint_1", "right_arm_3f_finger_b_joint_1", "right_arm_3f_finger_c_joint_1", "left_arm_3f_finger_a_joint_2", "left_arm_3f_finger_b_joint_2", "left_arm_3f_finger_c_joint_2", "right_arm_3f_finger_a_joint_2", "right_arm_3f_finger_b_joint_2", "right_arm_3f_finger_c_joint_2", "left_arm_3f_finger_a_joint_3", "left_arm_3f_finger_b_joint_3", "left_arm_3f_finger_c_joint_3", "right_arm_3f_finger_a_joint_3", "right_arm_3f_finger_b_joint_3", "right_arm_3f_finger_c_joint_3" ]
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2.520113
89
0
89
0
[ "left_arm_shoulder_pan_joint", "right_arm_shoulder_pan_joint", "left_arm_shoulder_lift_joint", "right_arm_shoulder_lift_joint", "left_arm_elbow_joint", "right_arm_elbow_joint", "left_arm_wrist_1_joint", "right_arm_wrist_1_joint", "left_arm_wrist_2_joint", "right_arm_wrist_2_joint", "left_arm_wrist_3_joint", "right_arm_wrist_3_joint", "left_arm_3f_palm_finger_b_joint", "left_arm_3f_palm_finger_c_joint", "right_arm_3f_palm_finger_b_joint", "right_arm_3f_palm_finger_c_joint", "left_arm_3f_finger_a_joint_1", "left_arm_3f_finger_b_joint_1", "left_arm_3f_finger_c_joint_1", "right_arm_3f_finger_a_joint_1", "right_arm_3f_finger_b_joint_1", "right_arm_3f_finger_c_joint_1", "left_arm_3f_finger_a_joint_2", "left_arm_3f_finger_b_joint_2", "left_arm_3f_finger_c_joint_2", "right_arm_3f_finger_a_joint_2", "right_arm_3f_finger_b_joint_2", "right_arm_3f_finger_c_joint_2", "left_arm_3f_finger_a_joint_3", "left_arm_3f_finger_b_joint_3", "left_arm_3f_finger_c_joint_3", "right_arm_3f_finger_a_joint_3", "right_arm_3f_finger_b_joint_3", "right_arm_3f_finger_c_joint_3" ]
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2.542961
90
0
90
0
[ "left_arm_shoulder_pan_joint", "right_arm_shoulder_pan_joint", "left_arm_shoulder_lift_joint", "right_arm_shoulder_lift_joint", "left_arm_elbow_joint", "right_arm_elbow_joint", "left_arm_wrist_1_joint", "right_arm_wrist_1_joint", "left_arm_wrist_2_joint", "right_arm_wrist_2_joint", "left_arm_wrist_3_joint", "right_arm_wrist_3_joint", "left_arm_3f_palm_finger_b_joint", "left_arm_3f_palm_finger_c_joint", "right_arm_3f_palm_finger_b_joint", "right_arm_3f_palm_finger_c_joint", "left_arm_3f_finger_a_joint_1", "left_arm_3f_finger_b_joint_1", "left_arm_3f_finger_c_joint_1", "right_arm_3f_finger_a_joint_1", "right_arm_3f_finger_b_joint_1", "right_arm_3f_finger_c_joint_1", "left_arm_3f_finger_a_joint_2", "left_arm_3f_finger_b_joint_2", "left_arm_3f_finger_c_joint_2", "right_arm_3f_finger_a_joint_2", "right_arm_3f_finger_b_joint_2", "right_arm_3f_finger_c_joint_2", "left_arm_3f_finger_a_joint_3", "left_arm_3f_finger_b_joint_3", "left_arm_3f_finger_c_joint_3", "right_arm_3f_finger_a_joint_3", "right_arm_3f_finger_b_joint_3", "right_arm_3f_finger_c_joint_3" ]
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2.591912
91
0
91
0
[ "left_arm_shoulder_pan_joint", "right_arm_shoulder_pan_joint", "left_arm_shoulder_lift_joint", "right_arm_shoulder_lift_joint", "left_arm_elbow_joint", "right_arm_elbow_joint", "left_arm_wrist_1_joint", "right_arm_wrist_1_joint", "left_arm_wrist_2_joint", "right_arm_wrist_2_joint", "left_arm_wrist_3_joint", "right_arm_wrist_3_joint", "left_arm_3f_palm_finger_b_joint", "left_arm_3f_palm_finger_c_joint", "right_arm_3f_palm_finger_b_joint", "right_arm_3f_palm_finger_c_joint", "left_arm_3f_finger_a_joint_1", "left_arm_3f_finger_b_joint_1", "left_arm_3f_finger_c_joint_1", "right_arm_3f_finger_a_joint_1", "right_arm_3f_finger_b_joint_1", "right_arm_3f_finger_c_joint_1", "left_arm_3f_finger_a_joint_2", "left_arm_3f_finger_b_joint_2", "left_arm_3f_finger_c_joint_2", "right_arm_3f_finger_a_joint_2", "right_arm_3f_finger_b_joint_2", "right_arm_3f_finger_c_joint_2", "left_arm_3f_finger_a_joint_3", "left_arm_3f_finger_b_joint_3", "left_arm_3f_finger_c_joint_3", "right_arm_3f_finger_a_joint_3", "right_arm_3f_finger_b_joint_3", "right_arm_3f_finger_c_joint_3" ]
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2.616417
92
0
92
0
[ "left_arm_shoulder_pan_joint", "right_arm_shoulder_pan_joint", "left_arm_shoulder_lift_joint", "right_arm_shoulder_lift_joint", "left_arm_elbow_joint", "right_arm_elbow_joint", "left_arm_wrist_1_joint", "right_arm_wrist_1_joint", "left_arm_wrist_2_joint", "right_arm_wrist_2_joint", "left_arm_wrist_3_joint", "right_arm_wrist_3_joint", "left_arm_3f_palm_finger_b_joint", "left_arm_3f_palm_finger_c_joint", "right_arm_3f_palm_finger_b_joint", "right_arm_3f_palm_finger_c_joint", "left_arm_3f_finger_a_joint_1", "left_arm_3f_finger_b_joint_1", "left_arm_3f_finger_c_joint_1", "right_arm_3f_finger_a_joint_1", "right_arm_3f_finger_b_joint_1", "right_arm_3f_finger_c_joint_1", "left_arm_3f_finger_a_joint_2", "left_arm_3f_finger_b_joint_2", "left_arm_3f_finger_c_joint_2", "right_arm_3f_finger_a_joint_2", "right_arm_3f_finger_b_joint_2", "right_arm_3f_finger_c_joint_2", "left_arm_3f_finger_a_joint_3", "left_arm_3f_finger_b_joint_3", "left_arm_3f_finger_c_joint_3", "right_arm_3f_finger_a_joint_3", "right_arm_3f_finger_b_joint_3", "right_arm_3f_finger_c_joint_3" ]
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2.662382
93
0
93
0
[ "left_arm_shoulder_pan_joint", "right_arm_shoulder_pan_joint", "left_arm_shoulder_lift_joint", "right_arm_shoulder_lift_joint", "left_arm_elbow_joint", "right_arm_elbow_joint", "left_arm_wrist_1_joint", "right_arm_wrist_1_joint", "left_arm_wrist_2_joint", "right_arm_wrist_2_joint", "left_arm_wrist_3_joint", "right_arm_wrist_3_joint", "left_arm_3f_palm_finger_b_joint", "left_arm_3f_palm_finger_c_joint", "right_arm_3f_palm_finger_b_joint", "right_arm_3f_palm_finger_c_joint", "left_arm_3f_finger_a_joint_1", "left_arm_3f_finger_b_joint_1", "left_arm_3f_finger_c_joint_1", "right_arm_3f_finger_a_joint_1", "right_arm_3f_finger_b_joint_1", "right_arm_3f_finger_c_joint_1", "left_arm_3f_finger_a_joint_2", "left_arm_3f_finger_b_joint_2", "left_arm_3f_finger_c_joint_2", "right_arm_3f_finger_a_joint_2", "right_arm_3f_finger_b_joint_2", "right_arm_3f_finger_c_joint_2", "left_arm_3f_finger_a_joint_3", "left_arm_3f_finger_b_joint_3", "left_arm_3f_finger_c_joint_3", "right_arm_3f_finger_a_joint_3", "right_arm_3f_finger_b_joint_3", "right_arm_3f_finger_c_joint_3" ]
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2.687172
94
0
94
0
[ "left_arm_wrist_2_joint", "left_arm_3f_finger_c_joint_1", "right_arm_3f_palm_finger_b_joint", "left_arm_3f_finger_a_joint_3", "right_arm_wrist_3_joint", "left_arm_elbow_joint", "right_arm_3f_finger_b_joint_2", "left_arm_shoulder_lift_joint", "right_arm_3f_finger_c_joint_2", "left_arm_3f_palm_finger_c_joint", "right_arm_3f_finger_a_joint_2", "right_arm_3f_finger_b_joint_1", "right_arm_3f_finger_b_joint_3", "right_arm_3f_finger_a_joint_1", "right_arm_3f_finger_c_joint_1", "right_arm_3f_finger_a_joint_3", "left_arm_3f_finger_b_joint_3", "right_arm_shoulder_lift_joint", "right_arm_shoulder_pan_joint", "right_arm_wrist_2_joint", "right_arm_elbow_joint", "left_arm_3f_finger_c_joint_3", "left_arm_shoulder_pan_joint", "left_arm_3f_finger_c_joint_2", "right_arm_3f_finger_c_joint_3", "right_arm_3f_palm_finger_c_joint", "left_arm_3f_finger_b_joint_2", "left_arm_3f_finger_b_joint_1", "left_arm_3f_palm_finger_b_joint", "left_arm_3f_finger_a_joint_2", "left_arm_3f_finger_a_joint_1", "left_arm_wrist_1_joint", "right_arm_wrist_1_joint", "left_arm_wrist_3_joint" ]
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2.734761
95
0
95
0
[ "left_arm_shoulder_pan_joint", "right_arm_shoulder_pan_joint", "left_arm_shoulder_lift_joint", "right_arm_shoulder_lift_joint", "left_arm_elbow_joint", "right_arm_elbow_joint", "left_arm_wrist_1_joint", "right_arm_wrist_1_joint", "left_arm_wrist_2_joint", "right_arm_wrist_2_joint", "left_arm_wrist_3_joint", "right_arm_wrist_3_joint", "left_arm_3f_palm_finger_b_joint", "left_arm_3f_palm_finger_c_joint", "right_arm_3f_palm_finger_b_joint", "right_arm_3f_palm_finger_c_joint", "left_arm_3f_finger_a_joint_1", "left_arm_3f_finger_b_joint_1", "left_arm_3f_finger_c_joint_1", "right_arm_3f_finger_a_joint_1", "right_arm_3f_finger_b_joint_1", "right_arm_3f_finger_c_joint_1", "left_arm_3f_finger_a_joint_2", "left_arm_3f_finger_b_joint_2", "left_arm_3f_finger_c_joint_2", "right_arm_3f_finger_a_joint_2", "right_arm_3f_finger_b_joint_2", "right_arm_3f_finger_c_joint_2", "left_arm_3f_finger_a_joint_3", "left_arm_3f_finger_b_joint_3", "left_arm_3f_finger_c_joint_3", "right_arm_3f_finger_a_joint_3", "right_arm_3f_finger_b_joint_3", "right_arm_3f_finger_c_joint_3" ]
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2.756538
96
0
96
0
[ "left_arm_shoulder_pan_joint", "right_arm_shoulder_pan_joint", "left_arm_shoulder_lift_joint", "right_arm_shoulder_lift_joint", "left_arm_elbow_joint", "right_arm_elbow_joint", "left_arm_wrist_1_joint", "right_arm_wrist_1_joint", "left_arm_wrist_2_joint", "right_arm_wrist_2_joint", "left_arm_wrist_3_joint", "right_arm_wrist_3_joint", "left_arm_3f_palm_finger_b_joint", "left_arm_3f_palm_finger_c_joint", "right_arm_3f_palm_finger_b_joint", "right_arm_3f_palm_finger_c_joint", "left_arm_3f_finger_a_joint_1", "left_arm_3f_finger_b_joint_1", "left_arm_3f_finger_c_joint_1", "right_arm_3f_finger_a_joint_1", "right_arm_3f_finger_b_joint_1", "right_arm_3f_finger_c_joint_1", "left_arm_3f_finger_a_joint_2", "left_arm_3f_finger_b_joint_2", "left_arm_3f_finger_c_joint_2", "right_arm_3f_finger_a_joint_2", "right_arm_3f_finger_b_joint_2", "right_arm_3f_finger_c_joint_2", "left_arm_3f_finger_a_joint_3", "left_arm_3f_finger_b_joint_3", "left_arm_3f_finger_c_joint_3", "right_arm_3f_finger_a_joint_3", "right_arm_3f_finger_b_joint_3", "right_arm_3f_finger_c_joint_3" ]
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2.803299
97
0
97
0
[ "left_arm_shoulder_pan_joint", "right_arm_shoulder_pan_joint", "left_arm_shoulder_lift_joint", "right_arm_shoulder_lift_joint", "left_arm_elbow_joint", "right_arm_elbow_joint", "left_arm_wrist_1_joint", "right_arm_wrist_1_joint", "left_arm_wrist_2_joint", "right_arm_wrist_2_joint", "left_arm_wrist_3_joint", "right_arm_wrist_3_joint", "left_arm_3f_palm_finger_b_joint", "left_arm_3f_palm_finger_c_joint", "right_arm_3f_palm_finger_b_joint", "right_arm_3f_palm_finger_c_joint", "left_arm_3f_finger_a_joint_1", "left_arm_3f_finger_b_joint_1", "left_arm_3f_finger_c_joint_1", "right_arm_3f_finger_a_joint_1", "right_arm_3f_finger_b_joint_1", "right_arm_3f_finger_c_joint_1", "left_arm_3f_finger_a_joint_2", "left_arm_3f_finger_b_joint_2", "left_arm_3f_finger_c_joint_2", "right_arm_3f_finger_a_joint_2", "right_arm_3f_finger_b_joint_2", "right_arm_3f_finger_c_joint_2", "left_arm_3f_finger_a_joint_3", "left_arm_3f_finger_b_joint_3", "left_arm_3f_finger_c_joint_3", "right_arm_3f_finger_a_joint_3", "right_arm_3f_finger_b_joint_3", "right_arm_3f_finger_c_joint_3" ]
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2.827116
98
0
98
0
[ "left_arm_shoulder_pan_joint", "right_arm_shoulder_pan_joint", "left_arm_shoulder_lift_joint", "right_arm_shoulder_lift_joint", "left_arm_elbow_joint", "right_arm_elbow_joint", "left_arm_wrist_1_joint", "right_arm_wrist_1_joint", "left_arm_wrist_2_joint", "right_arm_wrist_2_joint", "left_arm_wrist_3_joint", "right_arm_wrist_3_joint", "left_arm_3f_palm_finger_b_joint", "left_arm_3f_palm_finger_c_joint", "right_arm_3f_palm_finger_b_joint", "right_arm_3f_palm_finger_c_joint", "left_arm_3f_finger_a_joint_1", "left_arm_3f_finger_b_joint_1", "left_arm_3f_finger_c_joint_1", "right_arm_3f_finger_a_joint_1", "right_arm_3f_finger_b_joint_1", "right_arm_3f_finger_c_joint_1", "left_arm_3f_finger_a_joint_2", "left_arm_3f_finger_b_joint_2", "left_arm_3f_finger_c_joint_2", "right_arm_3f_finger_a_joint_2", "right_arm_3f_finger_b_joint_2", "right_arm_3f_finger_c_joint_2", "left_arm_3f_finger_a_joint_3", "left_arm_3f_finger_b_joint_3", "left_arm_3f_finger_c_joint_3", "right_arm_3f_finger_a_joint_3", "right_arm_3f_finger_b_joint_3", "right_arm_3f_finger_c_joint_3" ]
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2.874457
99
0
99
0
[ "left_arm_shoulder_pan_joint", "right_arm_shoulder_pan_joint", "left_arm_shoulder_lift_joint", "right_arm_shoulder_lift_joint", "left_arm_elbow_joint", "right_arm_elbow_joint", "left_arm_wrist_1_joint", "right_arm_wrist_1_joint", "left_arm_wrist_2_joint", "right_arm_wrist_2_joint", "left_arm_wrist_3_joint", "right_arm_wrist_3_joint", "left_arm_3f_palm_finger_b_joint", "left_arm_3f_palm_finger_c_joint", "right_arm_3f_palm_finger_b_joint", "right_arm_3f_palm_finger_c_joint", "left_arm_3f_finger_a_joint_1", "left_arm_3f_finger_b_joint_1", "left_arm_3f_finger_c_joint_1", "right_arm_3f_finger_a_joint_1", "right_arm_3f_finger_b_joint_1", "right_arm_3f_finger_c_joint_1", "left_arm_3f_finger_a_joint_2", "left_arm_3f_finger_b_joint_2", "left_arm_3f_finger_c_joint_2", "right_arm_3f_finger_a_joint_2", "right_arm_3f_finger_b_joint_2", "right_arm_3f_finger_c_joint_2", "left_arm_3f_finger_a_joint_3", "left_arm_3f_finger_b_joint_3", "left_arm_3f_finger_c_joint_3", "right_arm_3f_finger_a_joint_3", "right_arm_3f_finger_b_joint_3", "right_arm_3f_finger_c_joint_3" ]
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