Squares of side length $1, 1, 2, 3,$ and $5$ are arranged to form the rectangle shown below. A curve is drawn by inscribing a quarter circle in each square and joining the quarter circles in order, from shortest to longest. What is the length of the curve?
边长分别为 $1, 1, 2, 3$ 和 $5$ 的正方形排列成下图所示的长方形。在每个正方形内都内切一个四分之一圆,并按从最短边到最长边的顺序将这些四分之一圆连接成一条曲线。该曲线的长度是多少?