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 | 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 | |