root:
  id: "frame"
  model: "machine/frame.stl"
  type: "table"
  position: [-240, 150, -110, 90, 0, 0]
  origin: [0, 0, 0]
  axis: null
  joint: null

  # X → Z branch
  child_joint0:
    id: "joint0_axis"
    model: "machine/x.stl"
    type: "linear"
    position: [0, 80, 12, 90, 0, 0]
    origin: [0, 0, 0]
    axis: "x"
    joint: 0

    child_joint2:
      id: "joint2_axis"
      model: "machine/spindle.stl"
      type: "linear"
      position: [0, 17, 92, 90, 0, 0]
      origin: [0, 0, 0]
      axis: "z"
      joint: 2

  # Y branch
  child_joint1:
    id: "joint1_axis"
    model: "machine/bed.stl"
    type: "linear"
    position: [-130, -80, -78, 90, 0, 0]
    origin: [0, 0, 0]
    axis: "-y"
    joint: 1