predicators

refactor _get_expected_finger_normals to base pybullet env #10352

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Run time

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Job	Run time
lint (3.10.14)	6m 25s
isort (3.10.14)	13s
docformatter (3.10.14)	27s
static-type-checking (3.10.14)	2m 51s
unit-tests (3.10.14)	3m 24s
yapf (3.10.14)	57s
	14m 17s