#Francesco Lategano - Ottobre 2021 - Miragaia Tail Model
/*
joint: Vincolo, total pin joint,
 origine,
  position, reference, node, null,
  position orientation, reference, global, eye,
  rotation orientation, reference, node, eye,
#ground,
  position, reference, global, 0., 0., 0.,
  position orientation, reference, global, eye,
  rotation orientation, reference, node, eye,
 position constraint, 1, 1, 1, null,
 orientation constraint, 1, 1, 1, null,
output, no;
*/

joint: Giunto_8, total joint,
 nodo_80,
  position, reference, node, 0.041, 0., 0.,
  position orientation, reference, node, eye,
  rotation orientation, reference, node, eye,
 nodo_90,
  position, reference, node, -0.042, 0., 0.,
  position orientation, reference, node, eye,
  rotation orientation, reference, node, eye,
 position constraint, 1, 1, 1, null,
 orientation constraint, 1, 1, 0, null,
output, yes;

joint: Giunto_9, total joint,
 nodo_90,
  position, reference, node, 0.042, 0., 0.,
  position orientation, reference, node, eye,
  rotation orientation, reference, node, eye,
 nodo_100,
  position, reference, node, -0.0435, 0., 0.,
  position orientation, reference, node, eye,
  rotation orientation, reference, node, eye,
 position constraint, 1, 1, 1, null,
 orientation constraint, 1, 1, 0, null,
output, no;

joint: Giunto_10, total joint,
 nodo_100,
  position, reference, node, 0.0435, 0., 0.,
  position orientation, reference, node, eye,
  rotation orientation, reference, node, eye,
 nodo_110,
  position, reference, node, -0.0435, 0., 0.,
  position orientation, reference, node, eye,
  rotation orientation, reference, node, eye,
 position constraint, 1, 1, 1, null,
 orientation constraint, 1, 1, 0, null,
output, no;

joint: Giunto_11, total joint,
 nodo_110,
  position, reference, node, 0.0435, 0., 0.,
  position orientation, reference, node, eye,
  rotation orientation, reference, node, eye,
 nodo_120,
  position, reference, node, -0.0435, 0., 0.,
  position orientation, reference, node, eye,
  rotation orientation, reference, node, eye,
 position constraint, 1, 1, 1, null,
 orientation constraint, 1, 1, 0, null,
output, no;

joint: Giunto_12, total joint,
 nodo_120,
  position, reference, node, 0.043, 0., 0.,
  position orientation, reference, node, eye,
  rotation orientation, reference, node, eye,
 nodo_130,
  position, reference, node, -0.0415, 0., 0.,
  position orientation, reference, node, eye,
  rotation orientation, reference, node, eye,
 position constraint, 1, 1, 1, null,
 orientation constraint, 1, 1, 0, null,
output, no;

joint: Giunto_13, total joint,
 nodo_130,
  position, reference, node, 0.0415, 0., 0.,
  position orientation, reference, node, eye,
  rotation orientation, reference, node, eye,
 nodo_140,
  position, reference, node, -0.04, 0., 0.,
  position orientation, reference, node, eye,
  rotation orientation, reference, node, eye,
 position constraint, 1, 1, 1, null,
 orientation constraint, 1, 1, 0, null,
output, no;

joint: Giunto_14, total joint,
 nodo_140,
  position, reference, node, 0.0395, 0., 0.,
  position orientation, reference, node, eye,
  rotation orientation, reference, node, eye,
 nodo_150,
  position, reference, node, -0.038, 0., 0.,
  position orientation, reference, node, eye,
  rotation orientation, reference, node, eye,
 position constraint, 1, 1, 1, null,
 orientation constraint, 1, 1, 0, null,
output, no;

joint: Giunto_15, total joint,
 nodo_150,
  position, reference, node, 0.038, 0., 0.,
  position orientation, reference, node, eye,
  rotation orientation, reference, node, eye,
 nodo_160,
  position, reference, node, -0.038, 0., 0.,
  position orientation, reference, node, eye,
  rotation orientation, reference, node, eye,
 position constraint, 1, 1, 1, null,
 orientation constraint, 1, 1, 0, null,
output, no;

joint: Giunto_16, total joint,
 nodo_160,
  position, reference, node, 0.038, 0., 0.,
  position orientation, reference, node, eye,
  rotation orientation, reference, node, eye,
 nodo_170,
  position, reference, node, -0.0375, 0., 0.,
  position orientation, reference, node, eye,
  rotation orientation, reference, node, eye,
 position constraint, 1, 1, 1, null,
 orientation constraint, 1, 1, 0, null,
output, no;

joint: Giunto_17, total joint,
 nodo_170,
  position, reference, node, 0.0375, 0., 0.,
  position orientation, reference, node, eye,
  rotation orientation, reference, node, eye,
 nodo_180,
  position, reference, node, -0.036, 0., 0.,
  position orientation, reference, node, eye,
  rotation orientation, reference, node, eye,
 position constraint, 1, 1, 1, null,
 orientation constraint, 1, 1, 0, null,
output, no;

joint: Giunto_18, total joint,
 nodo_180,
  position, reference, node, 0.036, 0., 0.,
  position orientation, reference, node, eye,
  rotation orientation, reference, node, eye,
 nodo_190,
  position, reference, node, -0.036, 0., 0.,
  position orientation, reference, node, eye,
  rotation orientation, reference, node, eye,
 position constraint, 1, 1, 1, null,
 orientation constraint, 1, 1, 0, null,
output, no;

joint: Giunto_19, total joint,
 nodo_190,
  position, reference, node, 0.036, 0., 0.,
  position orientation, reference, node, eye,
  rotation orientation, reference, node, eye,
 nodo_200,
  position, reference, node, -0.035, 0., 0.,
  position orientation, reference, node, eye,
  rotation orientation, reference, node, eye,
 position constraint, 1, 1, 1, null,
 orientation constraint, 1, 1, 0, null,
output, no;

joint: Giunto_20, total joint,
 nodo_200,
  position, reference, node, 0.0345, 0., 0.,
  position orientation, reference, node, eye,
  rotation orientation, reference, node, eye,
 nodo_210,
  position, reference, node, -0.0335, 0., 0.,
  position orientation, reference, node, eye,
  rotation orientation, reference, node, eye,
 position constraint, 1, 1, 1, null,
 orientation constraint, 1, 1, 0, null,
output, no;

joint: Giunto_21, total joint,
 nodo_210,
  position, reference, node, 0.033, 0., 0.,
  position orientation, reference, node, eye,
  rotation orientation, reference, node, eye,
 nodo_220,
  position, reference, node, -0.032, 0., 0.,
  position orientation, reference, node, eye,
  rotation orientation, reference, node, eye,
 position constraint, 1, 1, 1, null,
 orientation constraint, 1, 1, 0, null,
output, no;

joint: Giunto_22, total joint,
 nodo_220,
  position, reference, node, 0.032, 0., 0.,
  position orientation, reference, node, eye,
  rotation orientation, reference, node, eye,
 nodo_230,
  position, reference, node, -0.0315, 0., 0.,
  position orientation, reference, node, eye,
  rotation orientation, reference, node, eye,
 position constraint, 1, 1, 1, null,
 orientation constraint, 1, 1, 0, null,
output, no;

joint: Giunto_23, total joint,
 nodo_230,
  position, reference, node, 0.0315, 0., 0.,
  position orientation, reference, node, eye,
  rotation orientation, reference, node, eye,
 nodo_240,
  position, reference, node, -0.03, 0., 0.,
  position orientation, reference, node, eye,
  rotation orientation, reference, node, eye,
 position constraint, 1, 1, 1, null,
 orientation constraint, 1, 1, 0, null,
output, no;

joint: Giunto_24, total joint,
 nodo_240,
  position, reference, node, 0.03, 0., 0.,
  position orientation, reference, node, eye,
  rotation orientation, reference, node, eye,
 nodo_250,
  position, reference, node, -0.0295, 0., 0.,
  position orientation, reference, node, eye,
  rotation orientation, reference, node, eye,
 position constraint, 1, 1, 1, null,
 orientation constraint, 1, 1, 0, null,
output, no;

joint: Giunto_25, total joint,
 nodo_250,
  position, reference, node, 0.0295, 0., 0.,
  position orientation, reference, node, eye,
  rotation orientation, reference, node, eye,
 nodo_260,
  position, reference, node, -0.029, 0., 0.,
  position orientation, reference, node, eye,
  rotation orientation, reference, node, eye,
 position constraint, 1, 1, 1, null,
 orientation constraint, 1, 1, 0, null,
output, no;

joint: Giunto_26, total joint,
 nodo_260,
  position, reference, node, 0.029, 0., 0.,
  position orientation, reference, node, eye,
  rotation orientation, reference, node, eye,
 nodo_270,
  position, reference, node, -0.029, 0., 0.,
  position orientation, reference, node, eye,
  rotation orientation, reference, node, eye,
 position constraint, 1, 1, 1, null,
 orientation constraint, 1, 1, 0, null,
output, no;

joint: Giunto_27, total joint,
 nodo_270,
  position, reference, node, 0.029, 0., 0.,
  position orientation, reference, node, eye,
  rotation orientation, reference, node, eye,
 nodo_280,
  position, reference, node, -0.0285, 0., 0.,
  position orientation, reference, node, eye,
  rotation orientation, reference, node, eye,
 position constraint, 1, 1, 1, null,
 orientation constraint, 1, 1, 0, null,
output, no;

joint: Giunto_28, total joint,
 nodo_280,
  position, reference, node, 0.028, 0., 0.,
  position orientation, reference, node, eye,
  rotation orientation, reference, node, eye,
 nodo_290,
  position, reference, node, -0.0275, 0., 0.,
  position orientation, reference, node, eye,
  rotation orientation, reference, node, eye,
 position constraint, 1, 1, 1, null,
 orientation constraint, 1, 1, 0, null,
output, no;

joint: Giunto_29, total joint,
 nodo_290,
  position, reference, node, 0.0275, 0., 0.,
  position orientation, reference, node, eye,
  rotation orientation, reference, node, eye,
 nodo_300,
  position, reference, node, -0.027, 0., 0.,
  position orientation, reference, node, eye,
  rotation orientation, reference, node, eye,
 position constraint, 1, 1, 1, null,
 orientation constraint, 1, 1, 0, null,
output, no;

joint: Giunto_30, total joint,
 nodo_300,
  position, reference, node, 0.027, 0., 0.,
  position orientation, reference, node, eye,
  rotation orientation, reference, node, eye,
 nodo_310,
  position, reference, node, -0.0265, 0., 0.,
  position orientation, reference, node, eye,
  rotation orientation, reference, node, eye,
 position constraint, 1, 1, 1, null,
 orientation constraint, 1, 1, 0, null,
output, no;

joint: Giunto_31, total joint,
 nodo_310,
  position, reference, node, 0.0265, 0., 0.,
  position orientation, reference, node, eye,
  rotation orientation, reference, node, eye,
 nodo_320,
  position, reference, node, -0.0255, 0., 0.,
  position orientation, reference, node, eye,
  rotation orientation, reference, node, eye,
 position constraint, 1, 1, 1, null,
 orientation constraint, 1, 1, 0, null,
output, no;

joint: Giunto_32, total joint,
 nodo_320,
  position, reference, node, 0.025, 0., 0.,
  position orientation, reference, node, eye,
  rotation orientation, reference, node, eye,
 nodo_330,
  position, reference, node, -0.0245, 0., 0.,
  position orientation, reference, node, eye,
  rotation orientation, reference, node, eye,
 position constraint, 1, 1, 1, null,
 orientation constraint, 1, 1, 0, null,
output, no;

joint: Giunto_33, total joint,
 nodo_330,
  position, reference, node, 0.0245, 0., 0.,
  position orientation, reference, node, eye,
  rotation orientation, reference, node, eye,
 nodo_340,
  position, reference, node, -0.0245, 0., 0.,
  position orientation, reference, node, eye,
  rotation orientation, reference, node, eye,
 position constraint, 1, 1, 1, null,
 orientation constraint, 1, 1, 0, null,
output, no;

joint: Giunto_34, total joint,
 nodo_340,
  position, reference, node, 0.0245, 0., 0.,
  position orientation, reference, node, eye,
  rotation orientation, reference, node, eye,
 nodo_350,
  position, reference, node, -0.0235, 0., 0.,
  position orientation, reference, node, eye,
  rotation orientation, reference, node, eye,
 position constraint, 1, 1, 1, null,
 orientation constraint, 1, 1, 0, null,
output, no;

joint: Giunto_35, total joint,
 nodo_350,
  position, reference, node, 0.0235, 0., 0.,
  position orientation, reference, node, eye,
  rotation orientation, reference, node, eye,
 nodo_360,
  position, reference, node, -0.023, 0., 0.,
  position orientation, reference, node, eye,
  rotation orientation, reference, node, eye,
 position constraint, 1, 1, 1, null,
 orientation constraint, 1, 1, 1, null,
output, no;

joint: Giunto_36, total joint,
 nodo_360,
  position, reference, node, 0.023, 0., 0.,
  position orientation, reference, node, eye,
  rotation orientation, reference, node, eye,
 nodo_370,
  position, reference, node, -0.025, 0., 0.,
  position orientation, reference, node, eye,
  rotation orientation, reference, node, eye,
 position constraint, 1, 1, 1, null,
 orientation constraint, 1, 1, 1, null,
output, no;

joint: Giunto_37, total joint,
 nodo_370,
  position, reference, node, 0.022, 0., 0.,
  position orientation, reference, node, eye,
  rotation orientation, reference, node, eye,
 nodo_380,
  position, reference, node, -0.0195, 0., 0.,
  position orientation, reference, node, eye,
  rotation orientation, reference, node, eye,
 position constraint, 1, 1, 1, null,
 orientation constraint, 1, 1, 1, null,
output, no;

joint: Giunto_38, total joint,
 nodo_380,
  position, reference, node, 0.0195, 0., 0.,
  position orientation, reference, node, eye,
  rotation orientation, reference, node, eye,
 nodo_390,
  position, reference, node, -0.017, 0., 0.,
  position orientation, reference, node, eye,
  rotation orientation, reference, node, eye,
 position constraint, 1, 1, 1, null,
 orientation constraint, 1, 1, 1, null,
output, no;

joint: Giunto_39, total joint,
 nodo_390,
  position, reference, node, 0.0165, 0., 0.,
  position orientation, reference, node, eye,
  rotation orientation, reference, node, eye,
 nodo_400,
  position, reference, node, -0.014, 0., 0.,
  position orientation, reference, node, eye,
  rotation orientation, reference, node, eye,
 position constraint, 1, 1, 1, null,
 orientation constraint, 1, 1, 1, null,
output, no;

joint: Giunto_40, total joint,
 nodo_400,
  position, reference, node, 0.014, 0., 0.,
  position orientation, reference, node, eye,
  rotation orientation, reference, node, eye,
 nodo_410,
  position, reference, node, -0.014, 0., 0.,
  position orientation, reference, node, eye,
  rotation orientation, reference, node, eye,
 position constraint, 1, 1, 1, null,
 orientation constraint, 1, 1, 1, null,
output, no;

joint: Giunto_41, total joint,
 nodo_410,
  position, reference, node, 0.014, 0., 0.,
  position orientation, reference, node, eye,
  rotation orientation, reference, node, eye,
 nodo_420,
  position, reference, node, -0.014, 0., 0.,
  position orientation, reference, node, eye,
  rotation orientation, reference, node, eye,
 position constraint, 1, 1, 1, null,
 orientation constraint, 1, 1, 1, null,
output, no;

joint: Giunto_0_B, deformable axial joint,
 Locker_O,
   position, reference, node, 0.0395, 0., 0.,
   orientation, reference, node, eye,
 nodo_10,
   position, reference, node, -0.0395, 0., 0.,
   orientation, reference, node, eye,
  array, 3,
     linear viscoelastic, 1.0*K_lin, 1.0*C_lin, # rigidezza e smorzamento
    #upper limit
    #hunt crossley, sign, positive, alpha, ALPHA, kappa, KAPPA, exp, EXPONENT,
    continuous contact, sign, positive, restitution, REST, kappa, KAPPA, exp, EXPONENT,
         prestrain,
             const, 5.*deg2rad,
    #lower limit
    #hunt crossley, alpha, ALPHA, kappa, KAPPA, exp, EXPONENT,
    continuous contact, restitution, REST, kappa, KAPPA, exp, EXPONENT,
         prestrain,
             const, -5.*deg2rad;

joint: Giunto_1_B, deformable axial joint,
 nodo_10,
   position, reference, node, 0.0395, 0., 0.,
   orientation, reference, node, eye,
 nodo_20,
   position, reference, node, -0.0395, 0., 0.,
   orientation, reference, node, eye,
  array, 3,
     linear viscoelastic, 1.0*K_lin, 1.0*C_lin, # rigidezza e smorzamento
    #upper limit
    #hunt crossley, sign, positive, alpha, ALPHA, kappa, KAPPA, exp, EXPONENT,
    continuous contact, sign, positive, restitution, REST, kappa, KAPPA, exp, EXPONENT,
         prestrain,
             const, 5.*deg2rad,
    #lower limit
    #hunt crossley, alpha, ALPHA, kappa, KAPPA, exp, EXPONENT,
    continuous contact, restitution, REST, kappa, KAPPA, exp, EXPONENT,
         prestrain,
             const, -5.*deg2rad;

joint: Giunto_2_B, deformable axial joint,
 nodo_20,
   position, reference, node, 0.0395, 0., 0.,
   orientation, reference, node, eye,
 nodo_30,
   position, reference, node, -0.0395, 0., 0.,
   orientation, reference, node, eye,
  array, 3,
     linear viscoelastic, 0.9931*K_lin, 0.9931*C_lin, # rigidezza e smorzamento
    #upper limit
    #hunt crossley, sign, positive, alpha, ALPHA, kappa, KAPPA, exp, EXPONENT,
    continuous contact, sign, positive, restitution, REST, kappa, KAPPA, exp, EXPONENT,
         prestrain,
             const, 5.*deg2rad,
    #lower limit
    #hunt crossley, alpha, ALPHA, kappa, KAPPA, exp, EXPONENT,
    continuous contact, restitution, REST, kappa, KAPPA, exp, EXPONENT,
         prestrain,
             const, -5.*deg2rad;

joint: Giunto_3_B, deformable axial joint,
 nodo_30,
   position, reference, node, 0.039, 0., 0.,
   orientation, reference, node, eye,
 nodo_40,
   position, reference, node, -0.0345, 0., 0.,
   orientation, reference, node, eye,
  array, 3,
     linear viscoelastic, 0.8674*K_lin, 0.8674*C_lin, # rigidezza e smorzamento
    #upper limit
    #hunt crossley, sign, positive, alpha, ALPHA, kappa, KAPPA, exp, EXPONENT,
    continuous contact, sign, positive, restitution, REST, kappa, KAPPA, exp, EXPONENT,
         prestrain,
             const, 5.*deg2rad,
    #lower limit
    #hunt crossley, alpha, ALPHA, kappa, KAPPA, exp, EXPONENT,
    continuous contact, restitution, REST, kappa, KAPPA, exp, EXPONENT,
         prestrain,
             const, -5.*deg2rad;

joint: Giunto_4_B, deformable axial joint,
 nodo_40,
   position, reference, node, 0.0345, 0., 0.,
   orientation, reference, node, eye,
 nodo_50,
   position, reference, node, -0.0345, 0., 0.,
   orientation, reference, node, eye,
  array, 3,
     linear viscoelastic, 0.8436*K_lin, 0.8436*C_lin, # rigidezza e smorzamento
    #upper limit
    #hunt crossley, sign, positive, alpha, ALPHA, kappa, KAPPA, exp, EXPONENT,
    continuous contact, sign, positive, restitution, REST, kappa, KAPPA, exp, EXPONENT,
         prestrain,
             const, 5.*deg2rad,
    #lower limit
    #hunt crossley, alpha, ALPHA, kappa, KAPPA, exp, EXPONENT,
    continuous contact, restitution, REST, kappa, KAPPA, exp, EXPONENT,
         prestrain,
             const, -5.*deg2rad;

joint: Giunto_5_B, deformable axial joint,
 nodo_50,
   position, reference, node, 0.0345, 0., 0.,
   orientation, reference, node, eye,
 nodo_60,
   position, reference, node, -0.0345, 0., 0.,
   orientation, reference, node, eye,
  array, 3,
     linear viscoelastic, 0.8436*K_lin, 0.8436*C_lin, # rigidezza e smorzamento
    #upper limit
    #hunt crossley, sign, positive, alpha, ALPHA, kappa, KAPPA, exp, EXPONENT,
    continuous contact, sign, positive, restitution, REST, kappa, KAPPA, exp, EXPONENT,
         prestrain,
             const, 5.*deg2rad,
    #lower limit
    #hunt crossley, alpha, ALPHA, kappa, KAPPA, exp, EXPONENT,
    continuous contact, restitution, REST, kappa, KAPPA, exp, EXPONENT,
         prestrain,
             const, -5.*deg2rad;

joint: Giunto_6_B, deformable axial joint,
 nodo_60,
   position, reference, node, 0.035, 0., 0.,
   orientation, reference, node, eye,
 nodo_70,
   position, reference, node, -0.0395, 0., 0.,
   orientation, reference, node, eye,
  array, 3,
     linear viscoelastic, 0.9323*K_lin, 0.9323*C_lin, # rigidezza e smorzamento
    #upper limit
    #hunt crossley, sign, positive, alpha, ALPHA, kappa, KAPPA, exp, EXPONENT,
    continuous contact, sign, positive, restitution, REST, kappa, KAPPA, exp, EXPONENT,
         prestrain,
             const, 5.*deg2rad,
    #lower limit
    #hunt crossley, alpha, ALPHA, kappa, KAPPA, exp, EXPONENT,
    continuous contact, restitution, REST, kappa, KAPPA, exp, EXPONENT,
         prestrain,
             const, -5.*deg2rad;

joint: Giunto_7_B, deformable axial joint,
 nodo_70,
   position, reference, node, 0.04, 0., 0.,
   orientation, reference, node, eye,
 nodo_80,
   position, reference, node, -0.041, 0., 0.,
   orientation, reference, node, eye,
  array, 3,
     linear viscoelastic, 0.9323*K_lin, 0.9323*C_lin, # rigidezza e smorzamento
    #upper limit
    #hunt crossley, sign, positive, alpha, ALPHA, kappa, KAPPA, exp, EXPONENT,
    continuous contact, sign, positive, restitution, REST, kappa, KAPPA, exp, EXPONENT,
         prestrain,
             const, 5.*deg2rad,
    #lower limit
    #hunt crossley, alpha, ALPHA, kappa, KAPPA, exp, EXPONENT,
    continuous contact, restitution, REST, kappa, KAPPA, exp, EXPONENT,
         prestrain,
             const, -5.*deg2rad;

joint: Giunto_8_B, deformable axial joint,
 nodo_80,
   position, reference, node, 0.041, 0., 0.,
   orientation, reference, node, eye,
 nodo_90,
   position, reference, node, -0.042, 0., 0.,
   orientation, reference, node, eye,
  array, 3,
     linear viscoelastic, 0.9217*K_lin, 0.9217*C_lin, # rigidezza e smorzamento
    #upper limit
    #hunt crossley, sign, positive, alpha, ALPHA, kappa, KAPPA, exp, EXPONENT,
    continuous contact, sign, positive, restitution, REST, kappa, KAPPA, exp, EXPONENT,
         prestrain,
             const, 5.*deg2rad,
    #lower limit
    #hunt crossley, alpha, ALPHA, kappa, KAPPA, exp, EXPONENT,
    continuous contact, restitution, REST, kappa, KAPPA, exp, EXPONENT,
         prestrain,
             const, -5.*deg2rad;

joint: Giunto_9_B, deformable axial joint,
 nodo_90,
   position, reference, node, 0.042, 0., 0.,
   orientation, reference, node, eye,
 nodo_100,
   position, reference, node, -0.0435, 0., 0.,
   orientation, reference, node, eye,
  array, 3,
     linear viscoelastic, 0.8852*K_lin, 0.8852*C_lin, # rigidezza e smorzamento
    #upper limit
    #hunt crossley, sign, positive, alpha, ALPHA, kappa, KAPPA, exp, EXPONENT,
    continuous contact, sign, positive, restitution, REST, kappa, KAPPA, exp, EXPONENT,
         prestrain,
             const, 5.*deg2rad,
    #lower limit
    #hunt crossley, alpha, ALPHA, kappa, KAPPA, exp, EXPONENT,
    continuous contact, restitution, REST, kappa, KAPPA, exp, EXPONENT,
         prestrain,
             const, -5.*deg2rad;

joint: Giunto_10_B, deformable axial joint,
 nodo_100,
   position, reference, node, 0.0435, 0., 0.,
   orientation, reference, node, eye,
 nodo_110,
   position, reference, node, -0.0435, 0., 0.,
   orientation, reference, node, eye,
  array, 3,
     linear viscoelastic, 0.8515*K_lin, 0.8515*C_lin, # rigidezza e smorzamento
    #upper limit
    #hunt crossley, sign, positive, alpha, ALPHA, kappa, KAPPA, exp, EXPONENT,
    continuous contact, sign, positive, restitution, REST, kappa, KAPPA, exp, EXPONENT,
         prestrain,
             const, 5.*deg2rad,
    #lower limit
    #hunt crossley, alpha, ALPHA, kappa, KAPPA, exp, EXPONENT,
    continuous contact, restitution, REST, kappa, KAPPA, exp, EXPONENT,
         prestrain,
             const, -5.*deg2rad;

joint: Giunto_11_B, deformable axial joint,
 nodo_110,
   position, reference, node, 0.0435, 0., 0.,
   orientation, reference, node, eye,
 nodo_120,
   position, reference, node, -0.0435, 0., 0.,
   orientation, reference, node, eye,
  array, 3,
     linear viscoelastic, 0.786*K_lin, 0.786*C_lin, # rigidezza e smorzamento
    #upper limit
    #hunt crossley, sign, positive, alpha, ALPHA, kappa, KAPPA, exp, EXPONENT,
    continuous contact, sign, positive, restitution, REST, kappa, KAPPA, exp, EXPONENT,
         prestrain,
             const, 5.*deg2rad,
    #lower limit
    #hunt crossley, alpha, ALPHA, kappa, KAPPA, exp, EXPONENT,
    continuous contact, restitution, REST, kappa, KAPPA, exp, EXPONENT,
         prestrain,
             const, -5.*deg2rad;

joint: Giunto_12_B, deformable axial joint,
 nodo_120,
   position, reference, node, 0.043, 0., 0.,
   orientation, reference, node, eye,
 nodo_130,
   position, reference, node, -0.0415, 0., 0.,
   orientation, reference, node, eye,
  array, 3,
     linear viscoelastic, 0.7196*K_lin, 0.7196*C_lin, # rigidezza e smorzamento
    #upper limit
    #hunt crossley, sign, positive, alpha, ALPHA, kappa, KAPPA, exp, EXPONENT,
    continuous contact, sign, positive, restitution, REST, kappa, KAPPA, exp, EXPONENT,
         prestrain,
             const, 5.*deg2rad,
    #lower limit
    #hunt crossley, alpha, ALPHA, kappa, KAPPA, exp, EXPONENT,
    continuous contact, restitution, REST, kappa, KAPPA, exp, EXPONENT,
         prestrain,
             const, -5.*deg2rad;

joint: Giunto_13_B, deformable axial joint,
 nodo_130,
   position, reference, node, 0.0415, 0., 0.,
   orientation, reference, node, eye,
 nodo_140,
   position, reference, node, -0.04, 0., 0.,
   orientation, reference, node, eye,
  array, 3,
     linear viscoelastic, 0.637*K_lin, 0.637*C_lin, # rigidezza e smorzamento
    #upper limit
    #hunt crossley, sign, positive, alpha, ALPHA, kappa, KAPPA, exp, EXPONENT,
    continuous contact, sign, positive, restitution, REST, kappa, KAPPA, exp, EXPONENT,
         prestrain,
             const, 5.*deg2rad,
    #lower limit
    #hunt crossley, alpha, ALPHA, kappa, KAPPA, exp, EXPONENT,
    continuous contact, restitution, REST, kappa, KAPPA, exp, EXPONENT,
         prestrain,
             const, -5.*deg2rad;

joint: Giunto_14_B, deformable axial joint,
 nodo_140,
    position, reference, node, 0.0395, 0., 0.,
    orientation, reference, node, eye,
 nodo_150,
   position, reference, node, -0.038, 0., 0.,
   orientation, reference, node, eye,
  array, 3,
     linear viscoelastic, 0.5537*K_lin, 0.5537*C_lin, # rigidezza e smorzamento
    #upper limit
    #hunt crossley, sign, positive, alpha, ALPHA, kappa, KAPPA, exp, EXPONENT,
    continuous contact, sign, positive, restitution, REST, kappa, KAPPA, exp, EXPONENT,
         prestrain,
             const, 5.*deg2rad,
    #lower limit
    #hunt crossley, alpha, ALPHA, kappa, KAPPA, exp, EXPONENT,
    continuous contact, restitution, REST, kappa, KAPPA, exp, EXPONENT,
         prestrain,
             const, -5.*deg2rad;

joint: Giunto_15_B, deformable axial joint,
 nodo_150,
    position, reference, node, 0.038, 0., 0.,
    orientation, reference, node, eye,
 nodo_160,
   position, reference, node, -0.038, 0., 0.,
   orientation, reference, node, eye,
  array, 3,
     linear viscoelastic, 0.4807*K_lin, 0.4807*C_lin, # rigidezza e smorzamento
    #upper limit
    #hunt crossley, sign, positive, alpha, ALPHA, kappa, KAPPA, exp, EXPONENT,
    continuous contact, sign, positive, restitution, REST, kappa, KAPPA, exp, EXPONENT,
         prestrain,
             const, 5.*deg2rad,
    #lower limit
    #hunt crossley, alpha, ALPHA, kappa, KAPPA, exp, EXPONENT,
    continuous contact, restitution, REST, kappa, KAPPA, exp, EXPONENT,
         prestrain,
             const, -5.*deg2rad;

joint: Giunto_16_B, deformable axial joint,
 nodo_160,
    position, reference, node, 0.038, 0., 0.,
    orientation, reference, node, eye,
 nodo_170,
   position, reference, node, -0.0375, 0., 0.,
   orientation, reference, node, eye,
  array, 3,
     linear viscoelastic, 0.4075*K_lin, 0.4075*C_lin, # rigidezza e smorzamento
    #upper limit
    #hunt crossley, sign, positive, alpha, ALPHA, kappa, KAPPA, exp, EXPONENT,
    continuous contact, sign, positive, restitution, REST, kappa, KAPPA, exp, EXPONENT,
         prestrain,
             const, 5.*deg2rad,
    #lower limit
    #hunt crossley, alpha, ALPHA, kappa, KAPPA, exp, EXPONENT,
    continuous contact, restitution, REST, kappa, KAPPA, exp, EXPONENT,
         prestrain,
             const, -5.*deg2rad;

joint: Giunto_17_B, deformable axial joint,
 nodo_170,
    position, reference, node, 0.0375, 0., 0.,
    orientation, reference, node, eye,
 nodo_180,
   position, reference, node, -0.036, 0., 0.,
   orientation, reference, node, eye,
  array, 3,
     linear viscoelastic, 0.3319*K_lin, 0.3319*C_lin, # rigidezza e smorzamento
    #upper limit
    #hunt crossley, sign, positive, alpha, ALPHA, kappa, KAPPA, exp, EXPONENT,
    continuous contact, sign, positive, restitution, REST, kappa, KAPPA, exp, EXPONENT,
         prestrain,
             const, 5.*deg2rad,
    #lower limit
    #hunt crossley, alpha, ALPHA, kappa, KAPPA, exp, EXPONENT,
    continuous contact, restitution, REST, kappa, KAPPA, exp, EXPONENT,
         prestrain,
             const, -5.*deg2rad;

joint: Giunto_18_B, deformable axial joint,
 nodo_180,
    position, reference, node, 0.036, 0., 0.,
    orientation, reference, node, eye,
 nodo_190,
   position, reference, node, -0.036, 0., 0.,
   orientation, reference, node, eye,
  array, 3,
     linear viscoelastic, 0.2775*K_lin, 0.2775*C_lin, # rigidezza e smorzamento
    #upper limit
    #hunt crossley, sign, positive, alpha, ALPHA, kappa, KAPPA, exp, EXPONENT,
    continuous contact, sign, positive, restitution, REST, kappa, KAPPA, exp, EXPONENT,
         prestrain,
             const, 5.*deg2rad,
    #lower limit
    #hunt crossley, alpha, ALPHA, kappa, KAPPA, exp, EXPONENT,
    continuous contact, restitution, REST, kappa, KAPPA, exp, EXPONENT,
         prestrain,
             const, -5.*deg2rad;

joint: Giunto_19_B, deformable axial joint,
 nodo_190,
    position, reference, node, 0.036, 0., 0.,
    orientation, reference, node, eye,
 nodo_200,
   position, reference, node, -0.035, 0., 0.,
   orientation, reference, node, eye,
  array, 3,
     linear viscoelastic, 0.2371*K_lin, 0.2371*C_lin, # rigidezza e smorzamento
    #upper limit
    #hunt crossley, sign, positive, alpha, ALPHA, kappa, KAPPA, exp, EXPONENT,
    continuous contact, sign, positive, restitution, REST, kappa, KAPPA, exp, EXPONENT,
         prestrain,
             const, 5.*deg2rad,
    #lower limit
    #hunt crossley, alpha, ALPHA, kappa, KAPPA, exp, EXPONENT,
    continuous contact, restitution, REST, kappa, KAPPA, exp, EXPONENT,
         prestrain,
             const, -5.*deg2rad;

joint: Giunto_20_B, deformable axial joint,
 nodo_200,
  position, reference, node, 0.0345, 0., 0.,
    orientation, reference, node, eye,
 nodo_210,
   position, reference, node, -0.0335, 0., 0.,
   orientation, reference, node, eye,
  array, 3,
     linear viscoelastic, 0.1784*K_lin, 0.1784*C_lin, # rigidezza e smorzamento
    #upper limit
    #hunt crossley, sign, positive, alpha, ALPHA, kappa, KAPPA, exp, EXPONENT,
    continuous contact, sign, positive, restitution, REST, kappa, KAPPA, exp, EXPONENT,
         prestrain,
             const, 5.*deg2rad,
    #lower limit
    #hunt crossley, alpha, ALPHA, kappa, KAPPA, exp, EXPONENT,
    continuous contact, restitution, REST, kappa, KAPPA, exp, EXPONENT,
         prestrain,
             const, -5.*deg2rad;

joint: Giunto_21_B, deformable axial joint,
 nodo_210,
    position, reference, node, 0.033, 0., 0.,
    orientation, reference, node, eye,
 nodo_220,
   position, reference, node, -0.032, 0., 0.,
   orientation, reference, node, eye,
  array, 3,
     linear viscoelastic, 0.1411*K_lin, 0.1411*C_lin, # rigidezza e smorzamento
    #upper limit
    #hunt crossley, sign, positive, alpha, ALPHA, kappa, KAPPA, exp, EXPONENT,
    continuous contact, sign, positive, restitution, REST, kappa, KAPPA, exp, EXPONENT,
         prestrain,
             const, 5.*deg2rad,
    #lower limit
    #hunt crossley, alpha, ALPHA, kappa, KAPPA, exp, EXPONENT,
    continuous contact, restitution, REST, kappa, KAPPA, exp, EXPONENT,
         prestrain,
             const, -5.*deg2rad;

joint: Giunto_22_B, deformable axial joint,
 nodo_220,
    position, reference, node, 0.032, 0., 0.,
    orientation, reference, node, eye,
 nodo_230,
   position, reference, node, -0.0315, 0., 0.,
   orientation, reference, node, eye,
  array, 3,
     linear viscoelastic, 0.1147*K_lin, 0.1147*C_lin, # rigidezza e smorzamento
    #upper limit
    #hunt crossley, sign, positive, alpha, ALPHA, kappa, KAPPA, exp, EXPONENT,
    continuous contact, sign, positive, restitution, REST, kappa, KAPPA, exp, EXPONENT,
         prestrain,
             const, 5.*deg2rad,
    #lower limit
    #hunt crossley, alpha, ALPHA, kappa, KAPPA, exp, EXPONENT,
    continuous contact, restitution, REST, kappa, KAPPA, exp, EXPONENT,
         prestrain,
             const, -5.*deg2rad;

joint: Giunto_23_B, deformable axial joint,
 nodo_230,
    position, reference, node, 0.0315, 0., 0.,
    orientation, reference, node, eye,
 nodo_240,
   position, reference, node, -0.03, 0., 0.,
   orientation, reference, node, eye,
  array, 3,
     linear viscoelastic, 0.0903*K_lin, 0.0903*C_lin, # rigidezza e smorzamento
    #upper limit
    #hunt crossley, sign, positive, alpha, ALPHA, kappa, KAPPA, exp, EXPONENT,
    continuous contact, sign, positive, restitution, REST, kappa, KAPPA, exp, EXPONENT,
         prestrain,
             const, 5.*deg2rad,
    #lower limit
    #hunt crossley, alpha, ALPHA, kappa, KAPPA, exp, EXPONENT,
    continuous contact, restitution, REST, kappa, KAPPA, exp, EXPONENT,
         prestrain,
             const, -5.*deg2rad;

joint: Giunto_24_B, deformable axial joint,
 nodo_240,
    position, reference, node, 0.03, 0., 0.,
    orientation, reference, node, eye,
 nodo_250,
   position, reference, node, -0.0295, 0., 0.,
   orientation, reference, node, eye,
  array, 3,
     linear viscoelastic, 0.0768*K_lin, 0.0768*C_lin, # rigidezza e smorzamento
    #upper limit
    #hunt crossley, sign, positive, alpha, ALPHA, kappa, KAPPA, exp, EXPONENT,
    continuous contact, sign, positive, restitution, REST, kappa, KAPPA, exp, EXPONENT,
         prestrain,
             const, 5.*deg2rad,
    #lower limit
    #hunt crossley, alpha, ALPHA, kappa, KAPPA, exp, EXPONENT,
    continuous contact, restitution, REST, kappa, KAPPA, exp, EXPONENT,
         prestrain,
             const, -5.*deg2rad;

joint: Giunto_25_B, deformable axial joint,
 nodo_250,
    position, reference, node, 0.0295, 0., 0.,
    orientation, reference, node, eye,
 nodo_260,
   position, reference, node, -0.029, 0., 0.,
   orientation, reference, node, eye,
  array, 3,
     linear viscoelastic, 0.0661*K_lin, 0.0661*C_lin, # rigidezza e smorzamento
    #upper limit
    #hunt crossley, sign, positive, alpha, ALPHA, kappa, KAPPA, exp, EXPONENT,
    continuous contact, sign, positive, restitution, REST, kappa, KAPPA, exp, EXPONENT,
         prestrain,
             const, 5.*deg2rad,
    #lower limit
    #hunt crossley, alpha, ALPHA, kappa, KAPPA, exp, EXPONENT,
    continuous contact, restitution, REST, kappa, KAPPA, exp, EXPONENT,
         prestrain,
             const, -5.*deg2rad;

joint: Giunto_26_B, deformable axial joint,
 nodo_260,
    position, reference, node, 0.029, 0., 0.,
    orientation, reference, node, eye,
 nodo_270,
   position, reference, node, -0.029, 0., 0.,
   orientation, reference, node, eye,
  array, 3,
     linear viscoelastic, 0.0616*K_lin, 0.0616*C_lin, # rigidezza e smorzamento
    #upper limit
    #hunt crossley, sign, positive, alpha, ALPHA, kappa, KAPPA, exp, EXPONENT,
    continuous contact, sign, positive, restitution, REST, kappa, KAPPA, exp, EXPONENT,
         prestrain,
             const, 5.*deg2rad,
    #lower limit
    #hunt crossley, alpha, ALPHA, kappa, KAPPA, exp, EXPONENT,
    continuous contact, restitution, REST, kappa, KAPPA, exp, EXPONENT,
         prestrain,
             const, -5.*deg2rad;

joint: Giunto_27_B, deformable axial joint,
 nodo_270,
    position, reference, node, 0.029, 0., 0.,
    orientation, reference, node, eye,
 nodo_280,
   position, reference, node, -0.0285, 0., 0.,
   orientation, reference, node, eye,
  array, 3,
     linear viscoelastic, 0.0549*K_lin, 0.0549*C_lin, # rigidezza e smorzamento
    #upper limit
    #hunt crossley, sign, positive, alpha, ALPHA, kappa, KAPPA, exp, EXPONENT,
    continuous contact, sign, positive, restitution, REST, kappa, KAPPA, exp, EXPONENT,
         prestrain,
             const, 5.*deg2rad,
    #lower limit
    #hunt crossley, alpha, ALPHA, kappa, KAPPA, exp, EXPONENT,
    continuous contact, restitution, REST, kappa, KAPPA, exp, EXPONENT,
         prestrain,
             const, -5.*deg2rad;

joint: Giunto_28_B, deformable axial joint,
 nodo_280,
    position, reference, node, 0.028, 0., 0.,
    orientation, reference, node, eye,
 nodo_290,
   position, reference, node, -0.0275, 0., 0.,
   orientation, reference, node, eye,
  array, 3,
     linear viscoelastic, 0.0491*K_lin, 0.0491*C_lin, # rigidezza e smorzamento
    #upper limit
    #hunt crossley, sign, positive, alpha, ALPHA, kappa, KAPPA, exp, EXPONENT,
    continuous contact, sign, positive, restitution, REST, kappa, KAPPA, exp, EXPONENT,
         prestrain,
             const, 5.*deg2rad,
    #lower limit
    #hunt crossley, alpha, ALPHA, kappa, KAPPA, exp, EXPONENT,
    continuous contact, restitution, REST, kappa, KAPPA, exp, EXPONENT,
         prestrain,
             const, -5.*deg2rad;

joint: Giunto_29_B, deformable axial joint,
 nodo_290,
    position, reference, node, 0.0275, 0., 0.,
    orientation, reference, node, eye,
 nodo_300,
   position, reference, node, -0.027, 0., 0.,
   orientation, reference, node, eye,
  array, 3,
     linear viscoelastic, 0.0457*K_lin, 0.0457*C_lin, # rigidezza e smorzamento
    #upper limit
    #hunt crossley, sign, positive, alpha, ALPHA, kappa, KAPPA, exp, EXPONENT,
    continuous contact, sign, positive, restitution, REST, kappa, KAPPA, exp, EXPONENT,
         prestrain,
             const, 5.*deg2rad,
    #lower limit
    #hunt crossley, alpha, ALPHA, kappa, KAPPA, exp, EXPONENT,
    continuous contact, restitution, REST, kappa, KAPPA, exp, EXPONENT,
         prestrain,
             const, -5.*deg2rad;

joint: Giunto_30_B, deformable axial joint,
 nodo_300,
    position, reference, node, 0.027, 0., 0.,
    orientation, reference, node, eye,
 nodo_310,
   position, reference, node, -0.0265, 0., 0.,
   orientation, reference, node, eye,
  array, 3,
     linear viscoelastic, 0.0437*K_lin, 0.0437*C_lin, # rigidezza e smorzamento
    #upper limit
    #hunt crossley, sign, positive, alpha, ALPHA, kappa, KAPPA, exp, EXPONENT,
    continuous contact, sign, positive, restitution, REST, kappa, KAPPA, exp, EXPONENT,
         prestrain,
             const, 5.*deg2rad,
    #lower limit
    #hunt crossley, alpha, ALPHA, kappa, KAPPA, exp, EXPONENT,
    continuous contact, restitution, REST, kappa, KAPPA, exp, EXPONENT,
         prestrain,
             const, -5.*deg2rad;

joint: Giunto_31_B, deformable axial joint,
 nodo_310,
    position, reference, node, 0.0265, 0., 0.,
    orientation, reference, node, eye,
 nodo_320,
   position, reference, node, -0.0255, 0., 0.,
   orientation, reference, node, eye,
  array, 3,
     linear viscoelastic, 0.0398*K_lin, 0.0398*C_lin, # rigidezza e smorzamento
    #upper limit
    #hunt crossley, sign, positive, alpha, ALPHA, kappa, KAPPA, exp, EXPONENT,
    continuous contact, sign, positive, restitution, REST, kappa, KAPPA, exp, EXPONENT,
         prestrain,
             const, 5.*deg2rad,
    #lower limit
    #hunt crossley, alpha, ALPHA, kappa, KAPPA, exp, EXPONENT,
    continuous contact, restitution, REST, kappa, KAPPA, exp, EXPONENT,
         prestrain,
             const, -5.*deg2rad;

joint: Giunto_32_B, deformable axial joint,
 nodo_320,
    position, reference, node, 0.025, 0., 0.,
    orientation, reference, node, eye,
 nodo_330,
   position, reference, node, -0.0245, 0., 0.,
   orientation, reference, node, eye,
  array, 3,
     linear viscoelastic, 0.0351*K_lin, 0.0351*C_lin, # rigidezza e smorzamento
    #upper limit
    #hunt crossley, sign, positive, alpha, ALPHA, kappa, KAPPA, exp, EXPONENT,
    continuous contact, sign, positive, restitution, REST, kappa, KAPPA, exp, EXPONENT,
         prestrain,
             const, 5.*deg2rad,
    #lower limit
    #hunt crossley, alpha, ALPHA, kappa, KAPPA, exp, EXPONENT,
    continuous contact, restitution, REST, kappa, KAPPA, exp, EXPONENT,
         prestrain,
             const, -5.*deg2rad;

joint: Giunto_33_B, deformable axial joint,
 nodo_330,
    position, reference, node, 0.0245, 0., 0.,
    orientation, reference, node, eye,
 nodo_340,
   position, reference, node, -0.0245, 0., 0.,
   orientation, reference, node, eye,
  array, 3,
     linear viscoelastic, 0.0321*K_lin, 0.0321*C_lin, # rigidezza e smorzamento
    #upper limit
    #hunt crossley, sign, positive, alpha, ALPHA, kappa, KAPPA, exp, EXPONENT,
    continuous contact, sign, positive, restitution, REST, kappa, KAPPA, exp, EXPONENT,
         prestrain,
             const, 5.*deg2rad,
    #lower limit
    #hunt crossley, alpha, ALPHA, kappa, KAPPA, exp, EXPONENT,
    continuous contact, restitution, REST, kappa, KAPPA, exp, EXPONENT,
         prestrain,
             const, -5.*deg2rad;

joint: Giunto_34_B, deformable axial joint,
 nodo_340,
    position, reference, node, 0.0245, 0., 0.,
    orientation, reference, node, eye,
 nodo_350,
   position, reference, node, -0.0235, 0., 0.,
   orientation, reference, node, eye,
  array, 3,
     linear viscoelastic, 0.0263*K_lin, 0.0263*C_lin, # rigidezza e smorzamento
    #upper limit
    #hunt crossley, sign, positive, alpha, ALPHA, kappa, KAPPA, exp, EXPONENT,
    continuous contact, sign, positive, restitution, REST, kappa, KAPPA, exp, EXPONENT,
         prestrain,
             const, 5.*deg2rad,
    #lower limit
    #hunt crossley, alpha, ALPHA, kappa, KAPPA, exp, EXPONENT,
    continuous contact, restitution, REST, kappa, KAPPA, exp, EXPONENT,
         prestrain,
             const, -5.*deg2rad;

joint: Giunto_35_B, deformable axial joint,
 nodo_350,
    position, reference, node, 0.0235, 0., 0.,
    orientation, reference, node, eye,
 nodo_360,
   position, reference, node, -0.023, 0., 0.,
   orientation, reference, node, eye,
  array, 3,
     linear viscoelastic, 0.0241*K_lin, 0.0241*C_lin, # rigidezza e smorzamento
    #upper limit
    #hunt crossley, sign, positive, alpha, ALPHA, kappa, KAPPA, exp, EXPONENT,
    continuous contact, sign, positive, restitution, REST, kappa, KAPPA, exp, EXPONENT,
         prestrain,
             const, 5.*deg2rad,
    #lower limit
    #hunt crossley, alpha, ALPHA, kappa, KAPPA, exp, EXPONENT,
    continuous contact, restitution, REST, kappa, KAPPA, exp, EXPONENT,
         prestrain,
             const, -5.*deg2rad;

joint: Giunto_36_B, deformable axial joint,
 nodo_360,
    position, reference, node, 0.023, 0., 0.,
    orientation, reference, node, eye,
 nodo_370,
   position, reference, node, -0.0225, 0., 0.,
   orientation, reference, node, eye,
  array, 3,
     linear viscoelastic, 0.0205*K_lin, 0.0205*C_lin, # rigidezza e smorzamento
    #upper limit
    #hunt crossley, sign, positive, alpha, ALPHA, kappa, KAPPA, exp, EXPONENT,
    continuous contact, sign, positive, restitution, REST, kappa, KAPPA, exp, EXPONENT,
         prestrain,
             const, 5.*deg2rad,
    #lower limit
    #hunt crossley, alpha, ALPHA, kappa, KAPPA, exp, EXPONENT,
    continuous contact, restitution, REST, kappa, KAPPA, exp, EXPONENT,
         prestrain,
             const, -5.*deg2rad;

joint: Giunto_37_B, deformable axial joint,
 nodo_370,
    position, reference, node, 0.022, 0., 0.,
    orientation, reference, node, eye,
 nodo_380,
   position, reference, node, -0.0195, 0., 0.,
   orientation, reference, node, eye,
  array, 3,
     linear viscoelastic, 0.0147*K_lin, 0.0147*C_lin, # rigidezza e smorzamento
    #upper limit
    #hunt crossley, sign, positive, alpha, ALPHA, kappa, KAPPA, exp, EXPONENT,
    continuous contact, sign, positive, restitution, REST, kappa, KAPPA, exp, EXPONENT,
         prestrain,
             const, 5.*deg2rad,
    #lower limit
    #hunt crossley, alpha, ALPHA, kappa, KAPPA, exp, EXPONENT,
    continuous contact, restitution, REST, kappa, KAPPA, exp, EXPONENT,
         prestrain,
             const, -5.*deg2rad;

joint: Giunto_38_B, deformable axial joint,
 nodo_380,
    position, reference, node, 0.0195, 0., 0.,
    orientation, reference, node, eye,
 nodo_390,
   position, reference, node, -0.017, 0., 0.,
   orientation, reference, node, eye,
  array, 3,
     linear viscoelastic, 0.0103*K_lin, 0.0103*C_lin, # rigidezza e smorzamento
    #upper limit
    #hunt crossley, sign, positive, alpha, ALPHA, kappa, KAPPA, exp, EXPONENT,
    continuous contact, sign, positive, restitution, REST, kappa, KAPPA, exp, EXPONENT,
         prestrain,
             const, 5.*deg2rad,
    #lower limit
    #hunt crossley, alpha, ALPHA, kappa, KAPPA, exp, EXPONENT,
    continuous contact, restitution, REST, kappa, KAPPA, exp, EXPONENT,
         prestrain,
             const, -5.*deg2rad;

joint: Giunto_39_B, deformable axial joint,
 nodo_390,
    position, reference, node, 0.0165, 0., 0.,
    orientation, reference, node, eye,
 nodo_400,
   position, reference, node, -0.014, 0., 0.,
   orientation, reference, node, eye,
  array, 3,
     linear viscoelastic, 0.0068*K_lin, 0.0068*C_lin, # rigidezza e smorzamento
    #upper limit
    #hunt crossley, sign, positive, alpha, ALPHA, kappa, KAPPA, exp, EXPONENT,
    continuous contact, sign, positive, restitution, REST, kappa, KAPPA, exp, EXPONENT,
         prestrain,
             const, 5.*deg2rad,
    #lower limit
    #hunt crossley, alpha, ALPHA, kappa, KAPPA, exp, EXPONENT,
    continuous contact, restitution, REST, kappa, KAPPA, exp, EXPONENT,
         prestrain,
             const, -5.*deg2rad;

joint: Giunto_40_B, deformable axial joint,
 nodo_400,
    position, reference, node, 0.014, 0., 0.,
    orientation, reference, node, eye,
 nodo_410,
   position, reference, node, -0.014, 0., 0.,
   orientation, reference, node, eye,
  array, 3,
     linear viscoelastic, 0.0068*K_lin, 0.0068*C_lin, # rigidezza e smorzamento
    #upper limit
    #hunt crossley, sign, positive, alpha, ALPHA, kappa, KAPPA, exp, EXPONENT,
    continuous contact, sign, positive, restitution, REST, kappa, KAPPA, exp, EXPONENT,
         prestrain,
             const, 5.*deg2rad,
    #lower limit
    #hunt crossley, alpha, ALPHA, kappa, KAPPA, exp, EXPONENT,
    continuous contact, restitution, REST, kappa, KAPPA, exp, EXPONENT,
         prestrain,
             const, -5.*deg2rad;

joint: Giunto_41_B, deformable axial joint,
 nodo_410,
    position, reference, node, 0.014, 0., 0.,
    orientation, reference, node, eye,
 nodo_420,
   position, reference, node, -0.014, 0., 0.,
   orientation, reference, node, eye,
  array, 3,
     linear viscoelastic, 0.0068*K_lin, 0.0068*C_lin, # rigidezza e smorzamento
    #upper limit
    #hunt crossley, sign, positive, alpha, ALPHA, kappa, KAPPA, exp, EXPONENT,
    continuous contact, sign, positive, restitution, REST, kappa, KAPPA, exp, EXPONENT,
         prestrain,
             const, 5.*deg2rad,
    #lower limit
    #hunt crossley, alpha, ALPHA, kappa, KAPPA, exp, EXPONENT,
    continuous contact, restitution, REST, kappa, KAPPA, exp, EXPONENT,
         prestrain,
             const, -5.*deg2rad;
