[{"id":0,"parent":2,"joint":"hinge","name":"rotation_lid","parts":[{"id":1,"name":"rotation_lid"}],"jointData":{"axis":{"origin":[0.1368375968265807,0.25889499999999993,0.51237],"direction":[0.9945741290525519,0,0]},"limit":{"a":-186.84,"b":82.8,"noLimit":false}}},{"id":1,"parent":2,"joint":"hinge","name":"rotation_lid","parts":[{"id":2,"name":"rotation_lid"}],"jointData":{"axis":{"origin":[-0.058312168754828475,0.258895,-0.47283],"direction":[0.9945805685385236,0,0]},"limit":{"a":-174.24,"b":-441.36,"noLimit":false}}},{"id":2,"parent":-1,"joint":"free","name":"base_body","parts":[{"id":3,"name":"base_body"}],"jointData":{}}]