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arm has not 6 but 7 degree of freedom..

1.shoulder have 1 degree of freedom.

2.yaw have 2 degree of freedom.

3.roll have 3 degree of freedom.

4.elbow have 4 degree of freedom.

5.wrist have 5degree of freedom.

6.wrist yaw have a 6degree of freedom.

7.wrist roll have a 7 degree of freedom.

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