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gnome-terminal --tab -e "optirun yarpserver" \
--tab -e "sh -c 'sleep 6 ; optirun iCub_SIM'" \
--tab -e "sh -c 'sleep 66 ; optirun simCartesianControl'" \
--tab -e "sh -c 'sleep 96 ; optirun iKinCartesianSolver --context simCartesianControl/conf --part left_arm'"
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