arm_links: ['arm_7_link','sdh_palm_link','sdh_grasp_link','sdh_tip_link','sdh_finger_21_link','sdh_finger_22_link','sdh_finger_23_link','sdh_finger_11_link','sdh_finger_12_link','sdh_finger_13_link','sdh_thumb_1_link','sdh_thumb_2_link','sdh_thumb_3_link']
