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{
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    "robot_type": "unitree_g1_inspire_sonic",
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                "right_hip_roll_joint",
                "right_hip_yaw_joint",
                "right_knee_joint",
                "right_ankle_pitch_joint",
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                "waist_roll_joint",
                "waist_pitch_joint",
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                "left_shoulder_roll_joint",
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                "left_hand_middle_1_joint",
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                "right_shoulder_pitch_joint",
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                "right_shoulder_yaw_joint",
                "right_elbow_joint",
                "right_wrist_roll_joint",
                "right_wrist_pitch_joint",
                "right_wrist_yaw_joint",
                "right_hand_index_0_joint",
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                "motion_token_06",
                "motion_token_07",
                "motion_token_08",
                "motion_token_09",
                "motion_token_10",
                "motion_token_11",
                "motion_token_12",
                "motion_token_13",
                "motion_token_14",
                "motion_token_15",
                "motion_token_16",
                "motion_token_17",
                "motion_token_18",
                "motion_token_19",
                "motion_token_20",
                "motion_token_21",
                "motion_token_22",
                "motion_token_23",
                "motion_token_24",
                "motion_token_25",
                "motion_token_26",
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                "motion_token_43",
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                "motion_token_47",
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                "motion_token_59",
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}