| Group name | Parameter name | Type | Units | Default Value | Required | Description | Notes |
| jointNames | vector<string> | - | - | Yes | Names of the physical joints | |
| LIMITS | jntPosMin | vector<double> | - | - | Yes | Physical joints' position minimum | |
| LIMITS | jntPosMax | vector<double> | - | - | Yes | Physical joints' position maximum | |
| COUPLING | device | string | - | - | Yes | Name of the device that handles the coupling | |
| COUPLING | actuatedAxesNames | vector<string> | - | - | Yes | Names of the actuated axes | |
| COUPLING | actuatedAxesPosMin | vector<double> | - | - | Yes | Actuated axes' position minimum | |
| COUPLING | actuatedAxesPosMax | vector<double> | - | - | Yes | Actuated axes' position maximum | |
