<commit_before>publish_rate: 30  # [Hz]
joint_names:
  - franka_emika_leftfinger_joint
  - franka_emika_rightfinger_joint<commit_msg>fixed finger joint names<commit_after>publish_rate: 30  # [Hz]
joint_names:
  - franka_emika_finger_joint1
  - franka_emika_finger_joint2
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