[JOINT]
Head_Tilt	PRM:/r1/c1-Joint2:j1		R	Head: vertical (up/down) angle					-92	46	
Head_Pan	PRM:/r1/c1/c2-Joint2:j2		R	Head: horizontal (left/right) angle				-93	93	
Head_Roll	PRM:/r1/c1/c2/c3-Joint2:j3	R	Head: tilt angle						-32	32	
LFLeg_1		PRM:/r2/c1-Joint2:j1		R	Left-Front leg J1 (hip joint): angle in front/back direction	-120	120	
LFLeg_2		PRM:/r2/c1/c2-Joint2:j2		R	Left-Front leg J1 (hip joint): angle in left/right direction	-14	100	
LFLeg_3		PRM:/r2/c1/c2/c3-Joint2:j3	R	Left-Front leg J2 (knee joint): angle in front/back direction	-30	150	
LRLeg_1		PRM:/r3/c1-Joint2:j1		R	Left-Rear leg J1 (hip joint): angle in front/back direction	-120	120	
LRLeg_2		PRM:/r3/c1/c2-Joint2:j2		R	Left-Rear leg J1 (hip joint): angle in left/right direction	-14	100	
LRLeg_3		PRM:/r3/c1/c2/c3-Joint2:j3	R	Left-Rear leg J2 (knee joint): angle in front/back direction	-30	150	
RFLeg_1		PRM:/r4/c1-Joint2:j1		R	Right-Front leg J1 (hip joint): angle in front/back direction	-120	120	
RFLeg_2		PRM:/r4/c1/c2-Joint2:j2		R	Right-Front leg J1 (hip joint): angle in left/right direction	-14	100	
RFLeg_3		PRM:/r4/c1/c2/c3-Joint2:j3	R	Right-Front leg J2 (knee joint): angle in front/back direction	-30	150	
RRLeg_1		PRM:/r5/c1-Joint2:j1		R	Right-Rear leg J1 (hip joint): angle in front/back direction	-120	120	
RRLeg_2		PRM:/r5/c1/c2-Joint2:j2		R	Right-Rear leg J1 (hip joint): angle in left/right direction	-14	100	
RRLeg_3		PRM:/r5/c1/c2/c3-Joint2:j3	R	Right-Rear leg J2 (knee joint): angle in front/back direction	-30	150	
[LED]
Eye_L1		PRM:/r1/c1/c2/c3/l1-LED2:l1	2	Eye (Left  Upper)		0	1	
Eye_L2		PRM:/r1/c1/c2/c3/l2-LED2:l2	2	Eye (Left  Middle)		0	1	
Eye_L3		PRM:/r1/c1/c2/c3/l3-LED2:l3	2	Eye (Left  Lower)		0	1	
Eye_R1		PRM:/r1/c1/c2/c3/l4-LED2:l4	2	Eye (Right Upper)		0	1	
Eye_R2		PRM:/r1/c1/c2/c3/l5-LED2:l5	2	Eye (Right Middle)		0	1	
Eye_R3		PRM:/r1/c1/c2/c3/l6-LED2:l6	2	Eye (Right Lower)		0	1	
Warn		PRM:/r1/c1/c2/c3/l7-LED2:l7	2	Warnning			0	1	
Face_1		PRM:/r1/c1/c2/c3/l8-LED2:l8	2	Face				0	1	
Face_2		PRM:/r1/c1/c2/c3/l9-LED2:l9	2	Face				0	1	
Face_3		PRM:/r1/c1/c2/c3/la-LED2:la	2	Face				0	1	
Spot		PRM:/r1/c1/c2/c3/lb-LED2:lb	2	Spot Light			0	1	
Back_1		PRM:/r6/l1-LED2:l1		2	Back 1				0	1	
Back_2		PRM:/r6/l2-LED2:l2		2	Back 2				0	1	
Back_3		PRM:/r6/l3-LED2:l3		2	Back 3				0	1	
Back_4		PRM:/r6/l4-LED2:l4		2	Back 4				0	1	
Back_5		PRM:/r6/l5-LED2:l5		2	Back 5				0	1	
Back_6		PRM:/r6/l6-LED2:l6		2	Back 6				0	1	
Back_7		PRM:/r6/l7-LED2:l7		2	Back 7				0	1	
Back_8		PRM:/r6/l8-LED2:l8		2	Back 8				0	1	
Back_9		PRM:/r6/l9-LED2:l9		2	Back 9				0	1