{
  "samples": [
    {
      "sample": "Dishwasher_001",
      "num_nodes": 2,
      "joint_types": [
        "fixed",
        "revolute"
      ],
      "node_names": [
        "base",
        "door"
      ],
      "num_articulated": 1
    },
    {
      "sample": "StorageFurniture_004",
      "num_nodes": 5,
      "joint_types": [
        "fixed",
        "prismatic",
        "prismatic",
        "revolute",
        "revolute"
      ],
      "node_names": [
        "base",
        "drawer",
        "drawer",
        "door",
        "door"
      ],
      "num_articulated": 4
    }
  ]
}