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+                "arm_l_joint1",
+                "arm_l_joint2",
+                "arm_l_joint3",
+                "arm_l_joint4",
+                "arm_l_joint5",
+                "arm_l_joint6",
+                "arm_l_joint7",
+                "l_rh_r1_joint"
+            ],
+            "shape": [
+                16
+            ]
+        },
+        "action": {
+            "dtype": "float32",
+            "names": [
+                "arm_r_joint1",
+                "arm_r_joint2",
+                "arm_r_joint3",
+                "arm_r_joint4",
+                "arm_r_joint5",
+                "arm_r_joint6",
+                "arm_r_joint7",
+                "r_rh_r1_joint",
+                "arm_l_joint1",
+                "arm_l_joint2",
+                "arm_l_joint3",
+                "arm_l_joint4",
+                "arm_l_joint5",
+                "arm_l_joint6",
+                "arm_l_joint7",
+                "l_rh_r1_joint"
+            ],
+            "shape": [
+                16
+            ]
+        }
+    }
+}

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