{
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  "links": 7,
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  "actuated": [
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   "tilt_joint"
  ],
  "validate_errors": null,
  "mesh_refs": 19,
  "mesh_files_exist": true,
  "scene_geometries_loaded": 13,
  "inertias_positive_definite_and_triangle_ok": true,
  "links_with_inertial": 5,
  "joint_limits_deg": {
   "pan_joint": [
    -90.0,
    90.0
   ],
   "tilt_joint": [
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    30.0
   ]
  },
  "root": "base_link",
  "fk_urdf_vs_glb_max_err_m": 1.3877787807814457e-17,
  "forward_after_pan30_tilt20_cad": [
   -0.4698,
   0.8138,
   0.342
  ],
  "pan_positive_turns_left": true,
  "tilt_positive_pitches_up": true
 },
 "module38_sh0257": {
  "yourdfpy_loaded": true,
  "links": 7,
  "joints": 6,
  "actuated": [
   "pan_joint",
   "tilt_joint"
  ],
  "validate_errors": null,
  "mesh_refs": 19,
  "mesh_files_exist": true,
  "scene_geometries_loaded": 13,
  "inertias_positive_definite_and_triangle_ok": true,
  "links_with_inertial": 5,
  "joint_limits_deg": {
   "pan_joint": [
    -90.0,
    90.0
   ],
   "tilt_joint": [
    -30.0,
    30.0
   ]
  },
  "root": "base_link",
  "fk_urdf_vs_glb_max_err_m": 1.3877787807814457e-17,
  "forward_after_pan30_tilt20_cad": [
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   0.8138,
   0.342
  ],
  "pan_positive_turns_left": true,
  "tilt_positive_pitches_up": true
 },
 "brio_mg996r": {
  "yourdfpy_loaded": true,
  "links": 7,
  "joints": 6,
  "actuated": [
   "pan_joint",
   "tilt_joint"
  ],
  "validate_errors": null,
  "mesh_refs": 19,
  "mesh_files_exist": true,
  "scene_geometries_loaded": 13,
  "inertias_positive_definite_and_triangle_ok": true,
  "links_with_inertial": 5,
  "joint_limits_deg": {
   "pan_joint": [
    -90.0,
    90.0
   ],
   "tilt_joint": [
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    30.0
   ]
  },
  "root": "base_link",
  "fk_urdf_vs_glb_max_err_m": 2.7755575615628914e-17,
  "forward_after_pan30_tilt20_cad": [
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   0.342
  ],
  "pan_positive_turns_left": true,
  "tilt_positive_pitches_up": true
 },
 "urdfpy": "import failed: ImportError: cannot import name 'gcd' from 'fractions' (/usr/lib/python3.13/fractions.py)"
}