id | = | coupler id. |
joi1 | = | revolute joint of the coupler from which motion is transmitted |
joi2 | = | revolute joint of the coupler to which motion is transmitted |
spltype | = | spline interpolation type 1 - akima spline type interpolation 2 - cubic spline type interpolation |
splid | = | id of the spline specifying the nonlinear relation between the joints |
scale | = | value by which the output to be scaled. Use -1 to reverse sign of the output. |