[{"id": 0, "parent": "base", "joint": "prismatic", "name": "drawer@1", "jointData": {"axis": {"origin": [0, 0, 0], "direction": [0.9999831139497657, -0.0012568974311866494, 0.0056738015631163045]}}}, {"id": 1, "parent": "base", "joint": "prismatic", "name": "drawer@2", "jointData": {"axis": {"origin": [0, 0, 0], "direction": [0.000388164392056474, -0.00013913532978231845, 0.9999999149848788]}}}, {"id": 2, "parent": "base", "joint": "prismatic", "name": "drawer@3", "jointData": {"axis": {"origin": [0, 0, 0], "direction": [0.9999881160385448, -0.0026118367744623673, 0.004116562928664335]}}}, {"id": 3, "parent": "base", "joint": "prismatic", "name": "drawer@4", "jointData": {"axis": {"origin": [0, 0, 0], "direction": [-8.750442647867346e-05, 8.144538916336518e-05, 0.9999999928548121]}}}, {"id": 4, "parent": null, "joint": "fixed", "name": "base", "jointData": {}}]