{
  "name": "T12 Robot",
  "description": "This is the T12 robot developed by the NASA Jet Propulsion Laboratory. It's a 6-legged robot with articulated joints and components.",
  "mass": 705.33,
  "dofs": 16,
  "joints": {
    "revolute": 16,
    "prismatic": 0,
    "continuous": 0,
    "fixed": 0,
    "other": 0
  },
  "links": [
    { "name": "body", "mass": 266.06 },
    { "name": "hip1", "mass": 10.16 },
    { "name": "thigh1", "mass": 14.24 },
    { "name": "knee1", "mass": 5.79 },
    { "name": "shin1", "mass": 10.2 },
    { "name": "ankle1", "mass": 5.11 },
    { "name": "foot1", "mass": 27.42 },
    { "name": "hip2", "mass": 10.16 },
    { "name": "thigh2", "mass": 14.24 },
    { "name": "knee2", "mass": 5.79 },
    { "name": "shin2", "mass": 10.2 },
    { "name": "ankle2", "mass": 5.11 },
    { "name": "foot2", "mass": 27.42 },
    { "name": "hip3", "mass": 10.16 },
    { "name": "thigh3", "mass": 14.24 },
    { "name": "knee3", "mass": 5.79 },
    { "name": "shin3", "mass": 10.2 },
    { "name": "ankle3", "mass": 5.11 },
    { "name": "foot3", "mass": 27.42 },
    { "name": "hip4", "mass": 10.16 },
    { "name": "thigh4", "mass": 14.24 },
    { "name": "knee4", "mass": 5.79 },
    { "name": "shin4", "mass": 10.2 },
    { "name": "ankle4", "mass": 5.11 },
    { "name": "foot4", "mass": 27.42 },
    { "name": "hip5", "mass": 10.16 },
    { "name": "thigh5", "mass": 14.24 },
    { "name": "knee5", "mass": 5.79 },
    { "name": "shin5", "mass": 10.2 },
    { "name": "ankle5", "mass": 5.11 },
    { "name": "foot5", "mass": 27.42 },
    { "name": "hip6", "mass": 10.16 },
    { "name": "thigh6", "mass": 14.24 },
    { "name": "knee6", "mass": 5.79 },
    { "name": "shin6", "mass": 10.2 },
    { "name": "ankle6", "mass": 5.11 },
    { "name": "foot6", "mass": 27.42 }
  ],
  "materials": [
    { "name": "Aluminum", "percentage": 60 },
    { "name": "Carbon Fiber", "percentage": 25 },
    { "name": "Steel", "percentage": 15 }
  ]
}