[JOINT]
Head_Tilt	PRM:/r1/c1-Joint2:11		R	Head: vertical (up/down) angle 1	-75 0
Head_Tilt_2	PRM:/r1/c1/c2/c3-Joint2:13	R   Head: vertical (up/down) angle 2	-15 45
Head_Pan	PRM:/r1/c1/c2-Joint2:12		R   Head: horizontal (left/right) angle		-88 88
Mouth		PRM:/r1/c1/c2/c3/c4-Joint2:14	R	Mouth: angle of open mouth				-55 -3
LFLeg_1		PRM:/r2/c1-Joint2:21		R	Left-Front leg J1 (hip joint): angle in front/back direction	-115 130
LFLeg_2		PRM:/r2/c1/c2-Joint2:22		R	Left-Front leg J1 (hip joint): angle in left/right direction -10 88
LFLeg_3		PRM:/r2/c1/c2/c3-Joint2:23	R	Left-Front leg J2 (knee joint): angle in front/back direction	-25 122
LRLeg_1		PRM:/r3/c1-Joint2:31		R	Left-Rear leg J1 (hip joint): angle in front/back direction	-115 130
LRLeg_2		PRM:/r3/c1/c2-Joint2:32		R	Left-Rear leg J1 (hip joint): angle in left/right direction -10 88
LRLeg_3		PRM:/r3/c1/c2/c3-Joint2:33	R	Left-Rear leg J2 (knee joint): angle in front/back direction -25 122
RFLeg_1		PRM:/r4/c1-Joint2:41		R	Right-Front leg J1 (hip joint): angle in front/back direction	-130 115
RFLeg_2		PRM:/r4/c1/c2-Joint2:42		R	Right-Front leg J1 (hip joint): angle in left/right direction	-10  88
RFLeg_3		PRM:/r4/c1/c2/c3-Joint2:43	R	Right-Front leg J2 (knee joint): angle in front/back direction	-25  122
RRLeg_1		PRM:/r5/c1-Joint2:51		R	Right-Rear leg J1 (hip joint): angle in front/back direction -130 115
RRLeg_2		PRM:/r5/c1/c2-Joint2:52		R	Right-Rear leg J1 (hip joint): angle in left/right direction	-10  88
RRLeg_3		PRM:/r5/c1/c2/c3-Joint2:53	R	Right-Rear leg J2 (knee joint): angle in front/back direction	-25  122
Tail_Tilt   PRM:/r6/c1-Joint2:61		R	Tail: vertical (up/down) angle	5 60
Tail_Pan    PRM:/r6/c2-Joint2:62		R	Tail: horizontal (left/right) angle -45 45