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+                "arm_l_joint7",
+                "gripper_l_joint1",
+                "arm_r_joint1",
+                "arm_r_joint2",
+                "arm_r_joint3",
+                "arm_r_joint4",
+                "arm_r_joint5",
+                "arm_r_joint6",
+                "arm_r_joint7",
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+                "head_joint1",
+                "head_joint2",
+                "lift_joint"
+            ],
+            "shape": [
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+            ]
+        }
+    }
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