##040003143185828700004
*
* Compile mechanism for j6_cable
*
begin COMPONENT j6_cable
	no_of_joints		82
	no_of_loops		0
	TCP_link_name		link_rad15
	user_TCP :
1	0	0	0	
0	1	0	0	
0	0	1	0	
0	0	0	1	
	inverse_family	-2
	base_name		lnk5

	begin LINK link_master
		joint_from	lnk5
		transformation_to_father :
1	0	0	0	
0	1	0	0	
0	0	1	0	
0	0	0	1	
		joint_name	fjoint
		axis_points	1895 -145 2890 , 1895 145 2890
		param_index	0
		joint_type	rot
		user_value	0
		range		no limits
		max_speed	90
		max_acceleration	90
	end;

	begin LINK link_slave
		joint_from	link_master
		transformation_to_father :
1	0	0	0	
0	1	0	0	
0	0	1	-0.000223	
0	0	0	1	
		joint_name	j_master
		axis_points	2393.050049 0 2922 , 2500 0 2922
		param_index	1
		joint_type	rot
		user_value	0
		range		no limits
		max_speed	90
		max_acceleration	90
	end;

	begin LINK link_rev01
		joint_from	link_slave
		transformation_to_father :
1	0	0	0.000122	
0	1	0	-0.001399	
0	0	1	0.000223	
0	0	0	1	
		joint_name	j_rev1
		axis_points	2286.100098 0 2922 , 2500 0 2922
		param_index	2
		joint_type	rot
		user_value	0
		range		no limits
		max_speed	90
		max_acceleration	90
		function "curr = (-T(j_master)*0)" 
	end;

	begin LINK link_rad01
		joint_from	link_rev01
		transformation_to_father :
1	0	0	0	
0	1	0	0	
0	0	1	0	
0	0	0	1	
		joint_name	j_rad1
		axis_points	1895 -144.999557 2890 , 1895 145 2890
		param_index	3
		joint_type	rot
		user_value	0
		range		no limits
		max_speed	90
		max_acceleration	90
		function "curr = ((T(fjoint)) * (0))" 
	end;

	begin LINK link_rev010
		joint_from	link_slave
		transformation_to_father :
1	0	0	0	
0	1	0	-0.001385	
0	0	1	0.000223	
0	0	0	1	
		joint_name	j_rev10
		axis_points	2286.100098 0 2922 , 2500 0 2922
		param_index	4
		joint_type	rot
		user_value	0
		range		no limits
		max_speed	90
		max_acceleration	90
		function "curr = (-T(j_master)*0.17)" 
	end;

	begin LINK link_rad010
		joint_from	link_rev010
		transformation_to_father :
1	0	0	0	
0	1	0	0	
0	0	1	0	
0	0	0	1	
		joint_name	j_rad10
		axis_points	1895 -145 2890 , 1895 145 2890
		param_index	5
		joint_type	rot
		user_value	0
		range		no limits
		max_speed	90
		max_acceleration	90
		function "curr = ((T(fjoint)) * (-0.02))" 
	end;

	begin LINK link_rev02
		joint_from	link_slave
		transformation_to_father :
1	0	0	0	
0	1	0	-0.001385	
0	0	1	0.000223	
0	0	0	1	
		joint_name	j_rev2
		axis_points	2286.100098 0 2922 , 2500 0 2922
		param_index	6
		joint_type	rot
		user_value	0
		range		no limits
		max_speed	90
		max_acceleration	90
		function "curr = (-T(j_master)*0.01)" 
	end;

	begin LINK link_rad02
		joint_from	link_rev02
		transformation_to_father :
1	0	0	0	
0	1	0	0	
0	0	1	0	
0	0	0	1	
		joint_name	j_rad2
		axis_points	1895 -145 2890 , 1895 145 2890
		param_index	7
		joint_type	rot
		user_value	0
		range		no limits
		max_speed	90
		max_acceleration	90
		function "curr = ((T(fjoint)) * (0))" 
	end;

	begin LINK link_rev03
		joint_from	link_slave
		transformation_to_father :
1	0	0	0	
0	1	0	-0.000503	
0	0	1	0.000223	
0	0	0	1	
		joint_name	j_rev3
		axis_points	2286.100098 0 2922 , 2500 0 2922
		param_index	8
		joint_type	rot
		user_value	0
		range		no limits
		max_speed	90
		max_acceleration	90
		function "curr = (-T(j_master)*0.02)" 
	end;

	begin LINK link_rad03
		joint_from	link_rev03
		transformation_to_father :
1	0	0	0	
0	1	0	0	
0	0	1	0	
0	0	0	1	
		joint_name	j_rad3
		axis_points	1895 -145 2890 , 1895 145 2890
		param_index	9
		joint_type	rot
		user_value	0
		range		no limits
		max_speed	90
		max_acceleration	90
		function "curr = ((T(fjoint)) * (0))" 
	end;

	begin LINK link_rev04
		joint_from	link_slave
		transformation_to_father :
1	0	0	0	
0	1	0	-0.000503	
0	0	1	0.000223	
0	0	0	1	
		joint_name	j_rev4
		axis_points	2286.100098 0 2922 , 2500 0 2922
		param_index	10
		joint_type	rot
		user_value	0
		range		no limits
		max_speed	90
		max_acceleration	90
		function "curr = (-T(j_master)*0.035)" 
	end;

	begin LINK link_rad04
		joint_from	link_rev04
		transformation_to_father :
1	0	0	0	
0	1	0	0	
0	0	1	0	
0	0	0	1	
		joint_name	j_rad4
		axis_points	1895 -145 2890 , 1895 145 2890
		param_index	11
		joint_type	rot
		user_value	0
		range		no limits
		max_speed	90
		max_acceleration	90
		function "curr = ((T(fjoint)) * (0))" 
	end;

	begin LINK link_rev05
		joint_from	link_slave
		transformation_to_father :
1	0	0	0	
0	1	0	-0.000503	
0	0	1	0.000223	
0	0	0	1	
		joint_name	j_rev5
		axis_points	2286.100098 0 2922 , 2500 0 2922
		param_index	12
		joint_type	rot
		user_value	0
		range		no limits
		max_speed	90
		max_acceleration	90
		function "curr = (-T(j_master)*0.05)" 
	end;

	begin LINK link_rad05
		joint_from	link_rev05
		transformation_to_father :
1	0	0	0	
0	1	0	0	
0	0	1	0	
0	0	0	1	
		joint_name	j_rad5
		axis_points	1895 -145 2890 , 1895 145 2890
		param_index	13
		joint_type	rot
		user_value	0
		range		no limits
		max_speed	90
		max_acceleration	90
		function "curr = ((T(fjoint)) * (0))" 
	end;

	begin LINK link_rev06
		joint_from	link_slave
		transformation_to_father :
1	0	0	0	
0	1	0	-0.000503	
0	0	1	0.000223	
0	0	0	1	
		joint_name	j_rev6
		axis_points	2286.100098 0 2922 , 2500 0 2922
		param_index	14
		joint_type	rot
		user_value	0
		range		no limits
		max_speed	90
		max_acceleration	90
		function "curr = (-T(j_master)*0.07)" 
	end;

	begin LINK link_rad06
		joint_from	link_rev06
		transformation_to_father :
1	0	0	0	
0	1	0	0	
0	0	1	0	
0	0	0	1	
		joint_name	j_rad6
		axis_points	1895 -145 2890 , 1895 145 2890
		param_index	15
		joint_type	rot
		user_value	0
		range		no limits
		max_speed	90
		max_acceleration	90
		function "curr = ((T(fjoint)) * (0))" 
	end;

	begin LINK link_rev07
		joint_from	link_slave
		transformation_to_father :
1	0	0	0	
0	1	0	-0.000503	
0	0	1	0.000223	
0	0	0	1	
		joint_name	j_rev7
		axis_points	2286.100098 0 2922 , 2500 0 2922
		param_index	16
		joint_type	rot
		user_value	0
		range		no limits
		max_speed	90
		max_acceleration	90
		function "curr = (-T(j_master)*0.09)" 
	end;

	begin LINK link_rad07
		joint_from	link_rev07
		transformation_to_father :
1	0	0	0	
0	1	0	0	
0	0	1	0	
0	0	0	1	
		joint_name	j_rad7
		axis_points	1895 -145 2890 , 1895 145 2890
		param_index	17
		joint_type	rot
		user_value	0
		range		no limits
		max_speed	90
		max_acceleration	90
		function "curr = ((T(fjoint)) * (-0.005))" 
	end;

	begin LINK link_rev08
		joint_from	link_slave
		transformation_to_father :
1	0	0	0	
0	1	0	-0.000503	
0	0	1	0.000223	
0	0	0	1	
		joint_name	j_rev8
		axis_points	2286.100098 0 2922 , 2500 0 2922
		param_index	18
		joint_type	rot
		user_value	0
		range		no limits
		max_speed	90
		max_acceleration	90
		function "curr = (-T(j_master)*0.115)" 
	end;

	begin LINK link_rad08
		joint_from	link_rev08
		transformation_to_father :
1	0	0	0	
0	1	0	0	
0	0	1	0	
0	0	0	1	
		joint_name	j_rad8
		axis_points	1895 -145 2890 , 1895 145 2890
		param_index	19
		joint_type	rot
		user_value	0
		range		no limits
		max_speed	90
		max_acceleration	90
		function "curr = ((T(fjoint)) * (-0.01))" 
	end;

	begin LINK link_rev09
		joint_from	link_slave
		transformation_to_father :
1	0	0	0	
0	1	0	-0.000944	
0	0	1	0.000223	
0	0	0	1	
		joint_name	j_rev9
		axis_points	2286.100098 0 2922 , 2500 0 2922
		param_index	20
		joint_type	rot
		user_value	0
		range		no limits
		max_speed	90
		max_acceleration	90
		function "curr = (-T(j_master)*0.14)" 
	end;

	begin LINK link_rad09
		joint_from	link_rev09
		transformation_to_father :
1	0	0	0	
0	1	0	0	
0	0	1	0	
0	0	0	1	
		joint_name	j_rad9
		axis_points	1895 -145 2890 , 1895 145 2890
		param_index	21
		joint_type	rot
		user_value	0
		range		no limits
		max_speed	90
		max_acceleration	90
		function "curr = ((T(fjoint)) * (-0.015))" 
	end;

	begin LINK link_rev1
		joint_from	link_slave
		transformation_to_father :
1	0	0	0.000122	
0	1	0	-0.000478	
0	0	1	-0.000266	
0	0	0	1	
		joint_name	j_rev11
		axis_points	2286.100098 -0.000582 2922 , 2500 -0.000582 2922
		param_index	22
		joint_type	rot
		user_value	0
		range		no limits
		max_speed	90
		max_acceleration	90
		function "curr = (-T(j_master)*0.2)" 
	end;

	begin LINK link_rad1
		joint_from	link_rev1
		transformation_to_father :
1	0	0	0	
0	1	0	-0.001324	
0	0	1	-0.000244	
0	0	0	1	
		joint_name	j_rad11
		axis_points	1895 -144.998672 2890.000732 , 1895 145.001328 2890.000732
		param_index	23
		joint_type	rot
		user_value	0
		range		no limits
		max_speed	90
		max_acceleration	90
		function "curr = ((T(fjoint)) * (-0.03))" 
	end;

	begin LINK link_rev10
		joint_from	link_slave
		transformation_to_father :
1	0	0	0.000244	
0	1	0	-0.000292	
0	0	1	0.000223	
0	0	0	1	
		joint_name	j_rev20
		axis_points	2286.099854 -0.000211 2922 , 2500 -0.000211 2922
		param_index	24
		joint_type	rot
		user_value	0
		range		no limits
		max_speed	90
		max_acceleration	90
		function "curr = (-T(j_master)*0.495)" 
	end;

	begin LINK link_rad10
		joint_from	link_rev10
		transformation_to_father :
1	0	0	7	
0	1	0	0	
0	0	1	0	
0	0	0	1	
		joint_name	j_rad20
		axis_points	1888 -145 2890 , 1888 145 2890
		param_index	25
		joint_type	rot
		user_value	0
		range		no limits
		max_speed	90
		max_acceleration	90
		function "curr = ((T(fjoint)) * (-0.2))" 
	end;

	begin LINK link_rev11
		joint_from	link_slave
		transformation_to_father :
1	0	0	0.000244	
0	1	0	-0.000355	
0	0	1	0.000223	
0	0	0	1	
		joint_name	j_rev21
		axis_points	2286.099854 -0.000192 2922 , 2500 -0.000192 2922
		param_index	26
		joint_type	rot
		user_value	0
		range		no limits
		max_speed	90
		max_acceleration	90
		function "curr = (-T(j_master)*0.53)" 
	end;

	begin LINK link_rad11
		joint_from	link_rev11
		transformation_to_father :
1	0	0	5	
0	1	0	0	
0	0	1	0	
0	0	0	1	
		joint_name	j_rad21
		axis_points	1890 -145 2890 , 1890 145 2890
		param_index	27
		joint_type	rot
		user_value	0
		range		no limits
		max_speed	90
		max_acceleration	90
		function "curr = ((T(fjoint)) * (-0.225))" 
	end;

	begin LINK link_rev12
		joint_from	link_slave
		transformation_to_father :
1	0	0	0.000244	
0	1	0	-0.000355	
0	0	1	0.000223	
0	0	0	1	
		joint_name	j_rev22
		axis_points	2286.099854 -0.000192 2922 , 2500 -0.000192 2922
		param_index	28
		joint_type	rot
		user_value	0
		range		no limits
		max_speed	90
		max_acceleration	90
		function "curr = (-T(j_master)*0.565)" 
	end;

	begin LINK link_rad12
		joint_from	link_rev12
		transformation_to_father :
1	0	0	4.499756	
0	1	0	0	
0	0	1	0	
0	0	0	1	
		joint_name	j_rad22
		axis_points	1890.5 -145 2890 , 1890.5 145 2890
		param_index	29
		joint_type	rot
		user_value	0
		range		no limits
		max_speed	90
		max_acceleration	90
		function "curr = ((T(fjoint)) * (-0.25))" 
	end;

	begin LINK link_rev13
		joint_from	link_slave
		transformation_to_father :
1	0	0	0.000244	
0	1	0	-0.000796	
0	0	1	0.000223	
0	0	0	1	
		joint_name	j_rev23
		axis_points	2286.099854 -0.000192 2922 , 2500 -0.000192 2922
		param_index	30
		joint_type	rot
		user_value	0
		range		no limits
		max_speed	90
		max_acceleration	90
		function "curr = (-T(j_master)*0.6)" 
	end;

	begin LINK link_rad13
		joint_from	link_rev13
		transformation_to_father :
1	0	0	2.5	
0	1	0	0	
0	0	1	0	
0	0	0	1	
		joint_name	j_rad23
		axis_points	1892.499756 -145 2890 , 1892.499756 145 2890
		param_index	31
		joint_type	rot
		user_value	0
		range		no limits
		max_speed	90
		max_acceleration	90
		function "curr = ((T(fjoint)) * (-0.275))" 
	end;

	begin LINK link_rev14
		joint_from	link_slave
		transformation_to_father :
1	0	0	0.000244	
0	1	0	-0.000796	
0	0	1	0.000223	
0	0	0	1	
		joint_name	j_rev24
		axis_points	2286.099854 -0.000192 2922 , 2500 -0.000192 2922
		param_index	32
		joint_type	rot
		user_value	0
		range		no limits
		max_speed	90
		max_acceleration	90
		function "curr = (-T(j_master)*0.635)" 
	end;

	begin LINK link_rad14
		joint_from	link_rev14
		transformation_to_father :
1	0	0	1.5	
0	1	0	0	
0	0	1	0	
0	0	0	1	
		joint_name	j_rad24
		axis_points	1893.499756 -145 2890 , 1893.499756 145 2890
		param_index	33
		joint_type	rot
		user_value	0
		range		no limits
		max_speed	90
		max_acceleration	90
		function "curr = ((T(fjoint)) * (-0.3))" 
	end;

	begin LINK link_rev15
		joint_from	link_slave
		transformation_to_father :
1	0	0	0.000244	
0	1	0	-0.000355	
0	0	1	0.000223	
0	0	0	1	
		joint_name	j_rev25
		axis_points	2286.099854 -0.000192 2922 , 2500 -0.000192 2922
		param_index	34
		joint_type	rot
		user_value	0
		range		no limits
		max_speed	90
		max_acceleration	90
		function "curr = (-T(j_master)*0.67)" 
	end;

	begin LINK link_rad15
		joint_from	link_rev15
		transformation_to_father :
1	0	0	0.999756	
0	1	0	0	
0	0	1	0	
0	0	0	1	
		joint_name	j_rad25
		axis_points	1894 -145 2890 , 1894 145 2890
		param_index	35
		joint_type	rot
		user_value	0
		range		no limits
		max_speed	90
		max_acceleration	90
		function "curr = ((T(fjoint)) * (-0.333))" 
	end;

	begin LINK link_rev16
		joint_from	link_slave
		transformation_to_father :
1	0	0	0.000244	
0	1	0	-0.000355	
0	0	1	0.000223	
0	0	0	1	
		joint_name	j_rev26
		axis_points	2286.099854 -0.000192 2922 , 2500 -0.000192 2922
		param_index	36
		joint_type	rot
		user_value	0
		range		no limits
		max_speed	90
		max_acceleration	90
		function "curr = (-T(j_master)*0.7)" 
	end;

	begin LINK link_rad16
		joint_from	link_rev16
		transformation_to_father :
1	0	0	0	
0	1	0	0	
0	0	1	0	
0	0	0	1	
		joint_name	j_rad26
		axis_points	1895 -145 2890 , 1895 145 2890
		param_index	37
		joint_type	rot
		user_value	0
		range		no limits
		max_speed	90
		max_acceleration	90
		function "curr = ((T(fjoint)) * (-0.366))" 
	end;

	begin LINK link_rev17
		joint_from	link_slave
		transformation_to_father :
1	0	0	0.000244	
0	1	0	-0.000796	
0	0	1	0.000223	
0	0	0	1	
		joint_name	j_rev27
		axis_points	2286.099854 -0.000192 2922 , 2500 -0.000192 2922
		param_index	38
		joint_type	rot
		user_value	0
		range		no limits
		max_speed	90
		max_acceleration	90
		function "curr = (-T(j_master)*0.73)" 
	end;

	begin LINK link_rad17
		joint_from	link_rev17
		transformation_to_father :
1	0	0	0	
0	1	0	0	
0	0	1	0	
0	0	0	1	
		joint_name	j_rad27
		axis_points	1895 -145 2890 , 1895 145 2890
		param_index	39
		joint_type	rot
		user_value	0
		range		no limits
		max_speed	90
		max_acceleration	90
		function "curr = ((T(fjoint)) * (-0.4))" 
	end;

	begin LINK link_rev18
		joint_from	link_slave
		transformation_to_father :
1	0	0	0.000244	
0	1	0	-0.000355	
0	0	1	0.000223	
0	0	0	1	
		joint_name	j_rev28
		axis_points	2286.099854 -0.000192 2922 , 2500 -0.000192 2922
		param_index	40
		joint_type	rot
		user_value	0
		range		no limits
		max_speed	90
		max_acceleration	90
		function "curr = (-T(j_master)*0.76)" 
	end;

	begin LINK link_rad18
		joint_from	link_rev18
		transformation_to_father :
1	0	0	0	
0	1	0	0	
0	0	1	0	
0	0	0	1	
		joint_name	j_rad28
		axis_points	1895 -145 2890 , 1895 145 2890
		param_index	41
		joint_type	rot
		user_value	0
		range		no limits
		max_speed	90
		max_acceleration	90
		function "curr = ((T(fjoint)) * (-0.45))" 
	end;

	begin LINK link_rev19
		joint_from	link_slave
		transformation_to_father :
1	0	0	0.000244	
0	1	0	-0.000355	
0	0	1	0.000223	
0	0	0	1	
		joint_name	j_rev29
		axis_points	2286.099854 -0.000192 2922 , 2500 -0.000192 2922
		param_index	42
		joint_type	rot
		user_value	0
		range		no limits
		max_speed	90
		max_acceleration	90
		function "curr = (-T(j_master)*0.79)" 
	end;

	begin LINK link_rad19
		joint_from	link_rev19
		transformation_to_father :
1	0	0	0	
0	1	0	0	
0	0	1	0	
0	0	0	1	
		joint_name	j_rad29
		axis_points	1895 -145 2890 , 1895 145 2890
		param_index	43
		joint_type	rot
		user_value	0
		range		no limits
		max_speed	90
		max_acceleration	90
		function "curr = ((T(fjoint)) * (-0.5))" 
	end;

	begin LINK link_rev2
		joint_from	link_slave
		transformation_to_father :
1	0	0	0.000244	
0	1	0	-0.000355	
0	0	1	0.000223	
0	0	0	1	
		joint_name	j_rev12
		axis_points	2286.099854 -0.000192 2922 , 2500 -0.000192 2922
		param_index	44
		joint_type	rot
		user_value	0
		range		no limits
		max_speed	90
		max_acceleration	90
		function "curr = (-T(j_master)*0.23)" 
	end;

	begin LINK link_rad2
		joint_from	link_rev2
		transformation_to_father :
1	0	0	3	
0	1	0	0	
0	0	1	0	
0	0	0	1	
		joint_name	j_rad12
		axis_points	1892 -145 2890 , 1892 145 2890
		param_index	45
		joint_type	rot
		user_value	0
		range		no limits
		max_speed	90
		max_acceleration	90
		function "curr = ((T(fjoint)) * (-0.04))" 
	end;

	begin LINK link_rev20
		joint_from	link_slave
		transformation_to_father :
1	0	0	0.000244	
0	1	0	-0.000796	
0	0	1	0.000223	
0	0	0	1	
		joint_name	j_rev30
		axis_points	2286.099854 -0.000192 2922 , 2500 -0.000192 2922
		param_index	46
		joint_type	rot
		user_value	0
		range		no limits
		max_speed	90
		max_acceleration	90
		function "curr = (-T(j_master)*0.82)" 
	end;

	begin LINK link_rad20
		joint_from	link_rev20
		transformation_to_father :
1	0	0	0	
0	1	0	0	
0	0	1	0	
0	0	0	1	
		joint_name	j_rad30
		axis_points	1895 -145 2890 , 1895 145 2890
		param_index	47
		joint_type	rot
		user_value	0
		range		no limits
		max_speed	90
		max_acceleration	90
		function "curr = ((T(fjoint)) * (-0.55))" 
	end;

	begin LINK link_rev21
		joint_from	link_slave
		transformation_to_father :
1	0	0	0.000244	
0	1	0	-0.000355	
0	0	1	0.000223	
0	0	0	1	
		joint_name	j_rev31
		axis_points	2286.099854 -0.000192 2922 , 2500 -0.000192 2922
		param_index	48
		joint_type	rot
		user_value	0
		range		no limits
		max_speed	90
		max_acceleration	90
		function "curr = (-T(j_master)*0.85)" 
	end;

	begin LINK link_rad21
		joint_from	link_rev21
		transformation_to_father :
1	0	0	0	
0	1	0	0	
0	0	1	0	
0	0	0	1	
		joint_name	j_rad31
		axis_points	1895 -145 2890 , 1895 145 2890
		param_index	49
		joint_type	rot
		user_value	0
		range		no limits
		max_speed	90
		max_acceleration	90
		function "curr = ((T(fjoint)) * (-0.6))" 
	end;

	begin LINK link_rev22
		joint_from	link_slave
		transformation_to_father :
1	0	0	0.000244	
0	1	0	-0.000355	
0	0	1	0.000223	
0	0	0	1	
		joint_name	j_rev32
		axis_points	2286.099854 -0.000192 2922 , 2500 -0.000192 2922
		param_index	50
		joint_type	rot
		user_value	0
		range		no limits
		max_speed	90
		max_acceleration	90
		function "curr = (-T(j_master)*0.875)" 
	end;

	begin LINK link_rad22
		joint_from	link_rev22
		transformation_to_father :
1	0	0	0	
0	1	0	0	
0	0	1	0	
0	0	0	1	
		joint_name	j_rad32
		axis_points	1895 -145 2890 , 1895 145 2890
		param_index	51
		joint_type	rot
		user_value	0
		range		no limits
		max_speed	90
		max_acceleration	90
		function "curr = ((T(fjoint)) * (-0.65))" 
	end;

	begin LINK link_rev23
		joint_from	link_slave
		transformation_to_father :
1	0	0	0.000244	
0	1	0	-0.000796	
0	0	1	0.000223	
0	0	0	1	
		joint_name	j_rev33
		axis_points	2286.099854 -0.000192 2922 , 2500 -0.000192 2922
		param_index	52
		joint_type	rot
		user_value	0
		range		no limits
		max_speed	90
		max_acceleration	90
		function "curr = (-T(j_master)*0.90)" 
	end;

	begin LINK link_rad23
		joint_from	link_rev23
		transformation_to_father :
1	0	0	-0.000244	
0	1	0	0	
0	0	1	0	
0	0	0	1	
		joint_name	j_rad33
		axis_points	1895 -145 2890 , 1895 145 2890
		param_index	53
		joint_type	rot
		user_value	0
		range		no limits
		max_speed	90
		max_acceleration	90
		function "curr = ((T(fjoint)) * (-0.7))" 
	end;

	begin LINK link_rev24
		joint_from	link_slave
		transformation_to_father :
1	0	0	0.000244	
0	1	0	-0.000355	
0	0	1	0.000223	
0	0	0	1	
		joint_name	j_rev34
		axis_points	2286.099854 -0.000192 2922 , 2500 -0.000192 2922
		param_index	54
		joint_type	rot
		user_value	0
		range		no limits
		max_speed	90
		max_acceleration	90
		function "curr = (-T(j_master)*0.92)" 
	end;

	begin LINK link_rad24
		joint_from	link_rev24
		transformation_to_father :
1	0	0	0	
0	1	0	0	
0	0	1	0	
0	0	0	1	
		joint_name	j_rad34
		axis_points	1895 -145 2890 , 1895 145 2890
		param_index	55
		joint_type	rot
		user_value	0
		range		no limits
		max_speed	90
		max_acceleration	90
		function "curr = ((T(fjoint)) * (-0.75))" 
	end;

	begin LINK link_rev25
		joint_from	link_slave
		transformation_to_father :
1	0	0	0	
0	1	0	-0.000503	
0	0	1	-0.000266	
0	0	0	1	
		joint_name	j_rev35
		axis_points	2286.100098 0 2922 , 2500 0 2922
		param_index	56
		joint_type	rot
		user_value	0
		range		no limits
		max_speed	90
		max_acceleration	90
		function "curr = (-T(j_master)*0.94)" 
	end;

	begin LINK link_rad25
		joint_from	link_rev25
		transformation_to_father :
1	0	0	0	
0	1	0	0	
0	0	1	0.000488	
0	0	0	1	
		joint_name	j_rad35
		axis_points	1895 -145 2890 , 1895 145 2890
		param_index	57
		joint_type	rot
		user_value	0
		range		no limits
		max_speed	90
		max_acceleration	90
		function "curr = ((T(fjoint)) * (-0.8))" 
	end;

	begin LINK link_rev26
		joint_from	link_slave
		transformation_to_father :
1	0	0	0	
0	1	0	-0.000503	
0	0	1	-0.000266	
0	0	0	1	
		joint_name	j_rev36
		axis_points	2286.100098 0 2922 , 2500 0 2922
		param_index	58
		joint_type	rot
		user_value	0
		range		no limits
		max_speed	90
		max_acceleration	90
		function "curr = (-T(j_master)*0.955)" 
	end;

	begin LINK link_rad26
		joint_from	link_rev26
		transformation_to_father :
1	0	0	0	
0	1	0	0	
0	0	1	0.000488	
0	0	0	1	
		joint_name	j_rad36
		axis_points	1895 -145 2890 , 1895 145 2890
		param_index	59
		joint_type	rot
		user_value	0
		range		no limits
		max_speed	90
		max_acceleration	90
		function "curr = ((T(fjoint)) * (-0.85))" 
	end;

	begin LINK link_rev27
		joint_from	link_slave
		transformation_to_father :
1	0	0	0	
0	1	0	-0.000503	
0	0	1	-0.000266	
0	0	0	1	
		joint_name	j_rev37
		axis_points	2286.100098 0 2922 , 2500 0 2922
		param_index	60
		joint_type	rot
		user_value	0
		range		no limits
		max_speed	90
		max_acceleration	90
		function "curr = (-T(j_master)*0.97)" 
	end;

	begin LINK link_rad27
		joint_from	link_rev27
		transformation_to_father :
1	0	0	0	
0	1	0	0	
0	0	1	0.000488	
0	0	0	1	
		joint_name	j_rad37
		axis_points	1895 -145 2890 , 1895 145 2890
		param_index	61
		joint_type	rot
		user_value	0
		range		no limits
		max_speed	90
		max_acceleration	90
		function "curr = ((T(fjoint)) * (-0.9))" 
	end;

	begin LINK link_rev28
		joint_from	link_slave
		transformation_to_father :
1	0	0	0	
0	1	0	-0.000944	
0	0	1	0	
0	0	0	1	
		joint_name	j_rev38
		axis_points	2286.100098 0 2922 , 2500 0 2922
		param_index	62
		joint_type	rot
		user_value	0
		range		no limits
		max_speed	90
		max_acceleration	90
		function "curr = (-T(j_master)*0.98)" 
	end;

	begin LINK link_rad28
		joint_from	link_rev28
		transformation_to_father :
1	0	0	0	
0	1	0	0	
0	0	1	0.000244	
0	0	0	1	
		joint_name	j_rad38
		axis_points	1895 -145 2890 , 1895 145 2890
		param_index	63
		joint_type	rot
		user_value	0
		range		no limits
		max_speed	90
		max_acceleration	90
		function "curr = ((T(fjoint)) * (-0.95))" 
	end;

	begin LINK link_rev29
		joint_from	link_slave
		transformation_to_father :
1	0	0	0	
0	1	0	-0.000503	
0	0	1	0	
0	0	0	1	
		joint_name	j_rev39
		axis_points	2286.100098 0 2922 , 2500 0 2922
		param_index	64
		joint_type	rot
		user_value	0
		range		no limits
		max_speed	90
		max_acceleration	90
		function "curr = (-T(j_master)*0.99)" 
	end;

	begin LINK link_rad29
		joint_from	link_rev29
		transformation_to_father :
1	0	0	0	
0	1	0	0	
0	0	1	0.000244	
0	0	0	1	
		joint_name	j_rad39
		axis_points	1895 -145 2890 , 1895 145 2890
		param_index	65
		joint_type	rot
		user_value	0
		range		no limits
		max_speed	90
		max_acceleration	90
		function "curr = ((T(fjoint)) * (-0.975))" 
	end;

	begin LINK link_rev3
		joint_from	link_slave
		transformation_to_father :
1	0	0	0.000244	
0	1	0	-0.000292	
0	0	1	0.000223	
0	0	0	1	
		joint_name	j_rev13
		axis_points	2286.099854 -0.000211 2922 , 2500 -0.000211 2922
		param_index	66
		joint_type	rot
		user_value	0
		range		no limits
		max_speed	90
		max_acceleration	90
		function "curr = (-T(j_master)*0.26)" 
	end;

	begin LINK link_rad3
		joint_from	link_rev3
		transformation_to_father :
1	0	0	6	
0	1	0	0	
0	0	1	0	
0	0	0	1	
		joint_name	j_rad13
		axis_points	1889 -145 2890 , 1889 145 2890
		param_index	67
		joint_type	rot
		user_value	0
		range		no limits
		max_speed	90
		max_acceleration	90
		function "curr = ((T(fjoint)) * (-0.055))" 
	end;

	begin LINK link_rev30
		joint_from	link_slave
		transformation_to_father :
1	0	0	0	
0	1	0	-0.000503	
0	0	1	0	
0	0	0	1	
		joint_name	j_rev40
		axis_points	2286.099854 0 2922 , 2500 0 2922
		param_index	68
		joint_type	rot
		user_value	0
		range		no limits
		max_speed	90
		max_acceleration	90
		function "curr = (-T(j_master)*1)" 
	end;

	begin LINK link_rad30
		joint_from	link_rev30
		transformation_to_father :
1	0	0	0.000122	
0	1	0	0	
0	0	1	0.000244	
0	0	0	1	
		joint_name	j_rad40
		axis_points	1895 -145 2890 , 1895 145 2890
		param_index	69
		joint_type	rot
		user_value	0
		range		no limits
		max_speed	90
		max_acceleration	90
		function "curr = ((T(fjoint)) * (-1))" 
	end;

	begin LINK link_rev4
		joint_from	link_slave
		transformation_to_father :
1	0	0	0.000244	
0	1	0	-0.000292	
0	0	1	0.000223	
0	0	0	1	
		joint_name	j_rev14
		axis_points	2286.099854 -0.000211 2922 , 2500 -0.000211 2922
		param_index	70
		joint_type	rot
		user_value	0
		range		no limits
		max_speed	90
		max_acceleration	90
		function "curr = (-T(j_master)*0.29)" 
	end;

	begin LINK link_rad4
		joint_from	link_rev4
		transformation_to_father :
1	0	0	7	
0	1	0	0	
0	0	1	0	
0	0	0	1	
		joint_name	j_rad14
		axis_points	1888 -145 2890 , 1888 145 2890
		param_index	71
		joint_type	rot
		user_value	0
		range		no limits
		max_speed	90
		max_acceleration	90
		function "curr = ((T(fjoint)) * (-0.07))" 
	end;

	begin LINK link_rev5
		joint_from	link_slave
		transformation_to_father :
1	0	0	0.000244	
0	1	0	-0.000733	
0	0	1	0.000223	
0	0	0	1	
		joint_name	j_rev15
		axis_points	2286.099854 -0.000211 2922 , 2500 -0.000211 2922
		param_index	72
		joint_type	rot
		user_value	0
		range		no limits
		max_speed	90
		max_acceleration	90
		function "curr = (-T(j_master)*0.32)" 
	end;

	begin LINK link_rad5
		joint_from	link_rev5
		transformation_to_father :
1	0	0	9	
0	1	0	0	
0	0	1	0	
0	0	0	1	
		joint_name	j_rad15
		axis_points	1886 -145 2890 , 1886 145 2890
		param_index	73
		joint_type	rot
		user_value	0
		range		no limits
		max_speed	90
		max_acceleration	90
		function "curr = ((T(fjoint)) * (-0.085))" 
	end;

	begin LINK link_rev6
		joint_from	link_slave
		transformation_to_father :
1	0	0	0.000244	
0	1	0	-0.000292	
0	0	1	0.000223	
0	0	0	1	
		joint_name	j_rev16
		axis_points	2286.099854 -0.000211 2922 , 2500 -0.000211 2922
		param_index	74
		joint_type	rot
		user_value	0
		range		no limits
		max_speed	90
		max_acceleration	90
		function "curr = (-T(j_master)*0.355)" 
	end;

	begin LINK link_rad6
		joint_from	link_rev6
		transformation_to_father :
1	0	0	9	
0	1	0	0	
0	0	1	0	
0	0	0	1	
		joint_name	j_rad16
		axis_points	1886 -145 2890 , 1886 145 2890
		param_index	75
		joint_type	rot
		user_value	0
		range		no limits
		max_speed	90
		max_acceleration	90
		function "curr = ((T(fjoint)) * (-0.1))" 
	end;

	begin LINK link_rev7
		joint_from	link_slave
		transformation_to_father :
1	0	0	0.000244	
0	1	0	-0.000292	
0	0	1	0.000223	
0	0	0	1	
		joint_name	j_rev17
		axis_points	2286.099854 -0.000211 2922 , 2500 -0.000211 2922
		param_index	76
		joint_type	rot
		user_value	0
		range		no limits
		max_speed	90
		max_acceleration	90
		function "curr = (-T(j_master)*0.39)" 
	end;

	begin LINK link_rad7
		joint_from	link_rev7
		transformation_to_father :
1	0	0	9.5	
0	1	0	0	
0	0	1	0	
0	0	0	1	
		joint_name	j_rad17
		axis_points	1885.499756 -145 2890 , 1885.499756 145 2890
		param_index	77
		joint_type	rot
		user_value	0
		range		no limits
		max_speed	90
		max_acceleration	90
		function "curr = ((T(fjoint)) * (-0.125))" 
	end;

	begin LINK link_rev8
		joint_from	link_slave
		transformation_to_father :
1	0	0	0.000244	
0	1	0	-0.000796	
0	0	1	0.000223	
0	0	0	1	
		joint_name	j_rev18
		axis_points	2286.099854 -0.000192 2922 , 2500 -0.000192 2922
		param_index	78
		joint_type	rot
		user_value	0
		range		no limits
		max_speed	90
		max_acceleration	90
		function "curr = (-T(j_master)*0.425)" 
	end;

	begin LINK link_rad8
		joint_from	link_rev8
		transformation_to_father :
1	0	0	9.5	
0	1	0	0	
0	0	1	0	
0	0	0	1	
		joint_name	j_rad18
		axis_points	1885.499756 -145 2890 , 1885.499756 145 2890
		param_index	79
		joint_type	rot
		user_value	0
		range		no limits
		max_speed	90
		max_acceleration	90
		function "curr = ((T(fjoint)) * (-0.15))" 
	end;

	begin LINK link_rev9
		joint_from	link_slave
		transformation_to_father :
1	0	0	0.000244	
0	1	0	-0.001237	
0	0	1	0.000223	
0	0	0	1	
		joint_name	j_rev19
		axis_points	2286.099854 -0.000192 2922 , 2500 -0.000192 2922
		param_index	80
		joint_type	rot
		user_value	0
		range		no limits
		max_speed	90
		max_acceleration	90
		function "curr = (-T(j_master)*0.46)" 
	end;

	begin LINK link_rad9
		joint_from	link_rev9
		transformation_to_father :
1	0	0	9	
0	1	0	0	
0	0	1	0	
0	0	0	1	
		joint_name	j_rad19
		axis_points	1886 -145 2890 , 1886 145 2890
		param_index	81
		joint_type	rot
		user_value	0
		range		no limits
		max_speed	90
		max_acceleration	90
		function "curr = ((T(fjoint)) * (-0.175))" 
	end

end
