{
    "num_parts": 6,
    "unique_part_ids": [
        5,
        9,
        10,
        13,
        14,
        15
    ],
    "motion_hierarchy": [
        [
            15,
            5
        ],
        [
            15,
            9
        ],
        [
            15,
            10
        ],
        [
            15,
            13
        ],
        [
            15,
            14
        ]
    ],
    "joints": [
        {
            "part_id": 5,
            "type": "revolute"
        },
        {
            "part_id": 9,
            "type": "revolute"
        },
        {
            "part_id": 10,
            "type": "revolute"
        },
        {
            "part_id": 13,
            "type": "prismatic"
        },
        {
            "part_id": 14,
            "type": "revolute"
        },
        {
            "part_id": 15,
            "type": "fixed"
        }
    ]
}