{
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  "left_arm_link1": [
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  "left_arm_link2": [
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  "left_arm_link4": [
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  "left_arm_link7": [
    [
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  "left_gripper_link": [
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  "left_gripper_finger_link1": [
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  "left_gripper_finger_link2": [
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    [
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    [
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    ],
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  ],
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    [
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  ],
  "right_arm_link3": [
    [
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  ],
  "right_arm_link4": [
    [
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    [
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  ],
  "right_arm_link5": [
    [
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  ],
  "right_arm_link6": [
    [
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  ],
  "right_arm_link7": [
    [
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  ],
  "right_gripper_link": [
    [
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    ],
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  ],
  "right_realsense_link": [
    [
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    ],
    [
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  ],
  "right_gripper_finger_link1": [
    [
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  ],
  "right_gripper_finger_link2": [
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    ],
    [
      0.014116,
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      0.050495
    ]
  ]
}