[{"id": 0, "parent": 1, "joint": "hinge", "name": "handle", "parts": [{"id": 1, "name": "handle", "children": []}], "jointData": {"axis": {"origin": [0, 0.430500873641537, -0.06576132556510857], "direction": [1, 0, 0]}, "limit": {"a": -235.08, "b": -440.64, "noLimit": false}}}, {"id": 1, "parent": -1, "joint": "free", "name": "base_body", "parts": [{"id": 2, "name": "base_body", "children": []}], "jointData": {}}]