{"1": {"position": [-0.9407678842544556, -1.2074826955795288, -0.7052910327911377], "axis": [0.0, 0.0, 1.0], "type": "revolute"}, "2": {"position": [-0.8284767270088196, -1.0469825267791748, -1.2651946544647217], "axis": [0.0, 0.0, 1.0], "type": "revolute"}, "3": {"position": [-1.2337545156478882, -0.6690766215324402, -1.2651946544647217], "axis": [0.0, 0.0, 1.0], "type": "revolute"}, "4": {"position": [-2.19134259223938, -0.035758037120103836, -0.8753498196601868], "axis": [0.7291295528411865, -0.6843757033348083, 0.0], "type": "prismatic"}, "5": {"position": [-2.207690715789795, -0.033078305423259735, -1.1251262426376343], "axis": [0.7291295528411865, -0.6843757033348083, 0.0], "type": "prismatic"}, "6": {"position": [-2.217707633972168, -0.023676224052906036, -1.378464698791504], "axis": [0.7291295528411865, -0.6843757033348083, 0.0], "type": "prismatic"}, "7": {"position": [-2.0276105403900146, 0.1972169727087021, -1.0660903453826904], "axis": [0.7291295528411865, -0.6843757033348083, 0.0], "type": "prismatic"}, "8": {"position": [-2.0162322521209717, 0.18653707206249237, -1.2073616981506348], "axis": [0.7291295528411865, -0.6843757033348083, 0.0], "type": "prismatic"}, "9": {"position": [-2.040666103363037, 0.20947125554084778, -1.3229411840438843], "axis": [0.7291295528411865, -0.6843757033348083, 0.0], "type": "prismatic"}, "10": {"position": [-2.041693925857544, 0.21043600142002106, -1.4558725357055664], "axis": [0.7291295528411865, -0.6843757033348083, 0.0], "type": "prismatic"}, "11": {"position": [-1.8103218078613281, 0.4109686017036438, -1.4016796350479126], "axis": [0.7291295528411865, -0.6843757033348083, 0.0], "type": "prismatic"}, "12": {"position": [-0.2661750018596649, 1.9755936861038208, 0.0], "axis": [0.0, 0.0, 1.0], "type": "revolute"}, "13": {"position": [0.2672775685787201, 1.443791151046753, 0.0], "axis": [0.0, 0.0, 1.0], "type": "revolute"}}