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  },
  "n_joints": 34,
  "joint_names": [
    "arm1_shoulder_lift_joint",
    "arm1_elbow_joint",
    "arm1_wrist_1_joint",
    "arm1_wrist_2_joint",
    "arm2_wrist_3_joint",
    "arm1_wrist_3_joint",
    "arm2_3f_finger_b_joint_3",
    "arm1_3f_finger_c_joint_3",
    "arm2_3f_palm_finger_b_joint",
    "arm2_3f_finger_c_joint_3",
    "arm2_3f_palm_finger_c_joint",
    "arm1_3f_finger_c_joint_2",
    "arm2_3f_finger_a_joint_3",
    "arm2_3f_finger_c_joint_2",
    "arm1_3f_finger_b_joint_2",
    "arm2_3f_finger_c_joint_1",
    "arm2_wrist_2_joint",
    "arm1_shoulder_pan_joint",
    "arm1_3f_finger_c_joint_1",
    "arm2_3f_finger_b_joint_1",
    "arm2_shoulder_pan_joint",
    "arm1_3f_finger_b_joint_3",
    "arm1_3f_finger_b_joint_1",
    "arm2_3f_finger_a_joint_2",
    "arm1_3f_palm_finger_b_joint",
    "arm1_3f_finger_a_joint_3",
    "arm2_elbow_joint",
    "arm1_3f_finger_a_joint_1",
    "arm2_shoulder_lift_joint",
    "arm2_3f_finger_b_joint_2",
    "arm2_3f_finger_a_joint_1",
    "arm1_3f_palm_finger_c_joint",
    "arm1_3f_finger_a_joint_2",
    "arm2_wrist_1_joint"
  ]
}