{
  "dof_order": [
    "shoulder_pan_joint",
    "shoulder_lift_joint",
    "elbow_joint",
    "wrist_1_joint",
    "wrist_2_joint",
    "wrist_3_joint",
    "right_moment_joint",
    "right_truss_joint",
    "right_tip_joint",
    "rg2_finger",
    "left_truss_joint",
    "left_tip_joint"
  ],
  "links": 22,
  "max_position_error_m": 3.4161474834468377e-07,
  "max_rotation_frobenius": 5.89956971745181e-07,
  "passed": true
}