[{"id":0,"parent":2,"joint":"hinge","name":"hand","parts":[{"id":10,"name":"hand","children":[]}],"jointData":{"axis":{"origin":[-0.00436236092895273,0.46628529171756183,0],"direction":[0,0,1]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":1,"parent":2,"joint":"hinge","name":"hand","parts":[{"id":11,"name":"hand","children":[]}],"jointData":{"axis":{"origin":[-0.00436236092895273,0.46628529171756183,0],"direction":[0,0,1]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":2,"parent":-1,"joint":"free","name":"base_surface","parts":[{"id":8,"name":"base_surface","children":[]},{"id":6,"name":"other_leaf","children":[]},{"id":9,"name":"frame","children":[]},{"id":12,"name":"surface","children":[]}],"jointData":{}}]