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only name and position is used:

channel_targets (sensor_msgs/JointState)

Target position the channels (fingers) shall move to. Note that it is less performant to give targets for individual channels or a subset of the available DoF than providing it for all at once. If 8 channels are given instead of 9 the driver will send 8 packets instead of 1 which might influence serial device performance. Only the names and positions will be evaluated from the JointState message.

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