Joint Information

Joint	Type	Initial	Lower limit	upper limit
1	Rotation	0.000	-2.967	2.967
2	Rotation	0.000	-0.698	0.698
3	Rotation	0.000	=max(-25*RAD,-40*RAD+dof(2))	=min(40*RAD,40*RAD+dof(2))
4	Rotation	1.344	-1.571	1.571
5	Rotation	-0.733	-3.142	3.142