{
    "arm":
    {
        "joint_names": [ 
            "arm_base_joint",
            "arm_link_1_joint",
            "arm_link_2_joint",
            "arm_link_3_joint",
            "gripper_base_joint"
            ],
        "base_link_name": "device_link",
        "end_effector_name": "gripper_base"
    }
}