[{"id":0,"parent":2,"joint":"hinge","name":"hand","parts":[{"id":13,"name":"hand","children":[]}],"jointData":{"axis":{"origin":[-0.02716650000000001,-0.0020920541846471685,0],"direction":[0,0,1]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":1,"parent":2,"joint":"hinge","name":"hand","parts":[{"id":14,"name":"hand","children":[]}],"jointData":{"axis":{"origin":[-0.02716650000000001,-0.0020920541846471685,0],"direction":[0,0,1]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":2,"parent":-1,"joint":"static","name":"frame","parts":[{"id":12,"name":"frame","children":[]},{"id":15,"name":"surface","children":[]},{"id":18,"name":"base_surface","children":[]},{"id":19,"name":"base_support","children":[]},{"id":20,"name":"base_support","children":[]},{"id":21,"name":"base_support","children":[]},{"id":22,"name":"base_support","children":[]}],"jointData":{}}]