{
    "OTDeck":{
        "joint_names":[
            "first_joint",
            "second_joint",
            "third_joint",
            "fourth_joint"
        ],
        "link_names":[
            "first_link",
            "second_link",
            "third_link",
            "fourth_link"
        ],
        "y":{
            "first_joint":{
            "factor":-0.001,
            "offset":0.166
            }
        },
        "x":{
            "second_joint":{
            "factor":-0.001,
            "offset":0.1775
            }
        },
        "z":{
            "third_joint":{
            "factor":0.001,
            "offset":0.0
            },
            "fourth_joint":{
            "factor":0.001,
            "offset":0.0
            }
        }
    },
    "TransformXYZDeck":{
        "joint_names":[
            "x_joint",
            "y_joint",
            "z_joint"
        ],
        "link_names":[
            "x_link",
            "y_link",
            "z_link"
        ],
        "x":{
            "y_joint":{
            "factor":-0.001,
            "offset":0.145
            }
        },
        "y":{
            "x_joint":{
            "factor":0.001,
            "offset":-0.21415
            }
        },
        "z":{
            "z_joint":{
            "factor":-0.001,
            "offset":0.0
            }
        }
    }
}