Sraghvi/buster-robot-dataset-v2 · Datasets at Hugging Face

[ -1.8674771783657285, -3.1465647674313186, -0.000043445063244709533, -0.8747971670712397, 2.9477302066750446, 0.000012585439485441263, 0.0495000000000001, 0.000057524693161023554, -0.052300000000000055, -0.00006896741338200989, 0.04950000000000004, 0.00005606400852286175, -0.052300000000000055, 0.0000530246727808073, 0.049500000000000065, 0.00009447869038808469, -0.05230000000000016, -1.315817016167732, -0.00006123203312753044, -0.000027814439231195423, -1.3305237540650277, 1.8157619679286643, -0.00003292164529032967, 0.04950000000000007, 0.00006409463814400918, -0.0523000000000001, -0.00007699660571312823, 0.04950000000000001, 0.00006080945734540088, -0.05230000000000015, -0.00009126053993972099, 0.04950000000000012, 0.00003216909468170738, -0.052300000000000145 ]

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11.482068

300

0

300

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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" ]

[ 1.303, -0.249, -0.4386, 0.0024, -0.199, 0.0388, -0.0096, 0.0182, -0.086, -0.0213, 0.12, 0.1991, -0.0328, -0.202, 0.2735, 0.0292, -0.0022, -0.1089, 0.0339, 3.1417, 0.0013, -0.0082, -0.0008, -0.0749, -0.0231, -0.1201, -0.0685, -0.3322, -0.0681, -0.0292, -0.1763, 0.0616, -0.0319, -0.0398 ]

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[ -1.8797, -1.3032, -3.1467, 0, -0.0001, -0.0001, -0.8662, -1.3178, 2.9197, 1.7982, -0.0003, 0.0005, 0.0001, 0.0005, -0.0001, -0.0009, 0.0493, 0.0495, 0.0496, 0.0496, 0.0493, 0.0493, 0, 0.0001, 0.0002, 0, 0.0001, 0.0001, -0.0523, -0.0523, -0.0523, -0.0523, -0.0523, -0.0523 ]

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11.534682

301

0

301

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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" ]

[ 0.0104, 0.016, 0.0198, -0.0487, 0.054, -0.1095, 0.4065, -0.004, 1.7705, -0.1033, -0.6948, 0.4294, 0.1609, 0.7448, -0.0576, -1.0493, -0.2879, -0.281, -0.079, 0.1765, -0.344, -0.0372, -0.0103, 0.0641, 0.0923, -0.0272, -0.0025, 0.0498, -0.0845, 0.0358, 0.0446, -0.014, 0.0105, 0.0305 ]

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11.559577

302

0

302

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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" ]

[ 1.7705, -0.079, -0.0576, -0.0845, 0.4294, 0.054, -0.0025, 0.0198, 0.0498, 0.7448, -0.0272, -0.344, 0.0105, 0.1765, -0.0372, -0.014, 0.0358, -0.0487, 0.016, -0.1033, -0.1095, 0.0446, 0.0104, 0.0923, 0.0305, -1.0493, 0.0641, -0.281, 0.1609, -0.0103, -0.2879, 0.4065, -0.004, -0.6948 ]

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11.625312

303

0

303

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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" ]

[ 0.0001, -0.0581, -0.0308, -0.1006, 0.0094, -0.0712, -0.5645, 0.1025, 0.0483, 3.0812, -0.0805, -0.094, -0.0777, -0.1707, 0.0099, 0.0598, 0.2153, -0.3473, -0.2197, 0.3862, 0.213, -0.0497, 0.0167, -0.0401, -0.0528, 0.0161, -0.1628, -0.137, -0.0046, 0.0037, 0.0004, 0.004, -0.0436, -0.042 ]

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11.654726

304

0

304

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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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11.7126

305

0

305

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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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11.741051

306

0

306

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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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11.795563

307

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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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11.826549

308

0

308

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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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11.887098

309

0

309

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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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11.912337

310

0

310

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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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11.967856

311

0

311

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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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11.999639

312

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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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12.052332

313

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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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12.083038

314

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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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12.135514

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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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12.160708

316

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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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12.215604

317

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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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12.240156

318

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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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12.299257

319

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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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12.32694

320

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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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12.379902

321

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321

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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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12.40716

322

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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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12.461027

323

0

323

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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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12.486619

324

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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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12.542614

325

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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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12.570134

326

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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

[ "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

1

0

1

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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0.064064

2

0

2

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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0.089508

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

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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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0.296777

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0.322814

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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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0.349475

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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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0.375991

14

0

14

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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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0.41264

15

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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

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17

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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_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

0

19

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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0.538922

20

0

20

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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0.56626

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

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25

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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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0.712153

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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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0.743277

27

0

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

28

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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

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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0.828004

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

0

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

0

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

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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0.928242

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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35

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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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0.97931

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

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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1.078794

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1.106014

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1.128708

42

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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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1.155666

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1.178753

44

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44

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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

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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

0

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

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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

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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1.50662

56

0

56

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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1.533768

57

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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

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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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1.584418

59

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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

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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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1.634507

61

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61

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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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1.658976

62

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62

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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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1.686288

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

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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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1.734693

65

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65

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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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1.760408

66

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66

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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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1.78659

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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[ "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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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

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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1.88958

71

0

71

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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1.917357

72

0

72

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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