#Francesco Lategano - Maggio 2022 - Miragaia Tail Model
joint: giunto_spina1, total joint,
 nodo_12,
  position, reference, node, null,
  position orientation, reference, node, eye,
  rotation orientation, reference, node, eye,
 nodo_10,
  position, reference, node, 0.1460, 0.071, 0.4406,
  position orientation, reference, node, eye,
  rotation orientation, reference, node, eye,
 position constraint, 1, 1, 1, null,
 orientation constraint, 0, 0, 0, null,
output, yes;

joint: giunto_spina2, total joint,
 nodo_22,
  position, reference, node, null,
  position orientation, reference, node, eye,
  rotation orientation, reference, node, eye,
 nodo_10,
  position, reference, node, 0.1460, -0.071, 0.4406,
  position orientation, reference, node, eye,
  rotation orientation, reference, node, eye,
 position constraint, 0, 0, 0, null,
 orientation constraint, 0, 0, 0, null,
output, yes;

joint: giunto_spina3, total joint,
 nodo_32,
  position, reference, node, null,
  position orientation, reference, node, eye,
  rotation orientation, reference, node, eye,
 nodo_50,
  position, reference, node, 0.1806, 0.072, 0.4236,
  position orientation, reference, node, eye,
  rotation orientation, reference, node, eye,
 position constraint, 0, 0, 0, null,
 orientation constraint, 0, 0, 0, null,
output, yes;

joint: giunto_spina4, total joint,
 nodo_42,
  position, reference, node, null,
  position orientation, reference, node, eye,
  rotation orientation, reference, node, eye,
 nodo_50,
  position, reference, node, 0.1806, -0.072, 0.4236,
  position orientation, reference, node, eye,
  rotation orientation, reference, node, eye,
 position constraint, 0, 0, 0, null,
 orientation constraint, 0, 0, 0, null,
output, yes;

joint: giunto_spina5, total joint,
 nodo_52,
  position, reference, node, null,
  position orientation, reference, node, eye,
  rotation orientation, reference, node, eye,
 nodo_90,
  position, reference, node, 0.2182, 0.068, 0.4014,
  position orientation, reference, node, eye,
  rotation orientation, reference, node, eye,
 position constraint, 0, 0, 0, null,
 orientation constraint, 0, 0, 0, null,
output, yes;

joint: giunto_spina6, total joint,
 nodo_62,
  position, reference, node, null,
  position orientation, reference, node, eye,
  rotation orientation, reference, node, eye,
nodo_90,
  position, reference, node, 0.2182, -0.068, 0.4014,
  position orientation, reference, node, eye,
  rotation orientation, reference, node, eye,
 position constraint, 0, 0, 0, null,
 orientation constraint, 0, 0, 0, null,
output, yes;

joint: giunto_spina7, total joint,
 nodo_72,
  position, reference, node, null,
  position orientation, reference, node, eye,
  rotation orientation, reference, node, eye,
nodo_130,
  position, reference, node, 0.2482, 0.067, 0.3339,
  position orientation, reference, node, eye,
  rotation orientation, reference, node, eye,
 position constraint, 0, 0, 0, null,
 orientation constraint, 0, 0, 0, null,
output, yes;

joint: giunto_spina8, total joint,
 nodo_82,
  position, reference, node, null,
  position orientation, reference, node, eye,
  rotation orientation, reference, node, eye,
 nodo_130,
  position, reference, node, 0.2482, -0.067, 0.3339,
  position orientation, reference, node, eye,
  rotation orientation, reference, node, eye,
 position constraint, 0, 0, 0, null,
 orientation constraint, 0, 0, 0, null,
output, yes;

joint: giunto_spina9, total joint,
 nodo_92,
  position, reference, node, null,
  position orientation, reference, node, eye,
  rotation orientation, reference, node, eye,
 nodo_170,
  position, reference, node, 0.2346, 0.057, 0.2540,
  position orientation, reference, node, eye,
  rotation orientation, reference, node, eye,
 position constraint, 0, 0, 0, null,
 orientation constraint, 0, 0, 0, null,
output, yes;

joint: giunto_spina10, total joint,
 nodo_102,
  position, reference, node, null,
  position orientation, reference, node, eye,
  rotation orientation, reference, node, eye,
 nodo_170,
  position, reference, node, 0.2346, -0.057, 0.2540,
  position orientation, reference, node, eye,
  rotation orientation, reference, node, eye,
 position constraint, 0, 0, 0, null,
 orientation constraint, 0, 0, 0, null,
output, yes;

joint: giunto_spina11, total joint,
 nodo_112,
  position, reference, node, null,
  position orientation, reference, node, eye,
  rotation orientation, reference, node, eye,
 nodo_210,
  position, reference, node, 0.2157, 0.049, 0.1948,
  position orientation, reference, node, eye,
  rotation orientation, reference, node, eye,
 position constraint, 0, 0, 0, null,
 orientation constraint, 0, 0, 0, null,
output, yes;

joint: giunto_spina12, total joint,
 nodo_122,
  position, reference, node, null,
  position orientation, reference, node, eye,
  rotation orientation, reference, node, eye,
nodo_210,
   position, reference, node, 0.2157, -0.049, 0.1948,
   position orientation, reference, node, eye,
   rotation orientation, reference, node, eye,
 position constraint, 0, 0, 0, null,
 orientation constraint, 0, 0, 0, null,
output, yes;

joint: giunto_spina13, total joint,
 nodo_132,
  position, reference, node, null,
  position orientation, reference, node, eye,
  rotation orientation, reference, node, eye,
 nodo_250,
  position, reference, node, 0.2014, 0.038, 0.1501,
  position orientation, reference, node, eye,
  rotation orientation, reference, node, eye,
 position constraint, 0, 0, 0, null,
 orientation constraint, 0, 0, 0, null,
output, yes;

joint: giunto_spina14, total joint,
 nodo_142,
  position, reference, node, null,
  position orientation, reference, node, eye,
  rotation orientation, reference, node, eye,
 nodo_250,
  position, reference, node, 0.2014, -0.038, 0.1501,
  position orientation, reference, node, eye,
  rotation orientation, reference, node, eye,
 position constraint, 0, 0, 0, null,
 orientation constraint, 0, 0, 0, null,
output, yes;

joint: giunto_spina15, total joint,
 nodo_152,
  position, reference, node, null,
  position orientation, reference, node, eye,
  rotation orientation, reference, node, eye,
  nodo_290,
   position, reference, node, 0.1819, 0.036, 0.1109,
   position orientation, reference, node, eye,
   rotation orientation, reference, node, eye,
 position constraint, 0, 0, 0, null,
 orientation constraint, 0, 0, 0, null,
output, yes;

joint: giunto_spina16, total joint,
 nodo_162,
  position, reference, node, null,
  position orientation, reference, node, eye,
  rotation orientation, reference, node, eye,
 nodo_290,
  position, reference, node, 0.1819, -0.036, 0.1109,
  position orientation, reference, node, eye,
  rotation orientation, reference, node, eye,
 position constraint, 0, 0, 0, null,
 orientation constraint, 0, 0, 0, null,
output, yes;

joint: giunto_spina17, total joint,
 nodo_172,
  position, reference, node, null,
  position orientation, reference, node, eye,
  rotation orientation, reference, node, eye,
 nodo_330,
  position, reference, node, 0.1765, 0.033, 0.0842,
  position orientation, reference, node, eye,
  rotation orientation, reference, node, eye,
 position constraint, 0, 0, 0, null,
 orientation constraint, 0, 0, 0, null,
output, yes;

joint: giunto_spina18, total joint,
 nodo_182,
  position, reference, node, null,
  position orientation, reference, node, eye,
  rotation orientation, reference, node, eye,
 nodo_330,
  position, reference, node, 0.1765, -0.033, 0.0842,
  position orientation, reference, node, eye,
  rotation orientation, reference, node, eye,
 position constraint, 0, 0, 0, null,
 orientation constraint, 0, 0, 0, null,
output, yes;

joint: giunto_spina19, total joint,
 nodo_192,
  position, reference, node, null,
  position orientation, reference, node, eye,
  rotation orientation, reference, node, eye,
 nodo_360,
  position, reference, node, 0.1978, 0.1216, 0.0697,
  position orientation, reference, node, eye,
  rotation orientation, reference, node, eye,
 position constraint, 0, 0, 0, null,
 orientation constraint, 0, 0, 0, null,
output, yes;

joint: giunto_spina20, total joint,
 nodo_202,
  position, reference, node, null,
  position orientation, reference, node, eye,
  rotation orientation, reference, node, eye,
 nodo_360,
  position, reference, node, 0.1978, -0.1216, 0.0697,
  position orientation, reference, node, eye,
  rotation orientation, reference, node, eye,
 position constraint, 0, 0, 0, null,
 orientation constraint, 0, 0, 0, null,
output, yes;

joint: giunto_spina21, total joint,
 nodo_212,
  position, reference, node, null,
  position orientation, reference, node, eye,
  rotation orientation, reference, node, eye,
 nodo_400,
  position, reference, node, 0.2591, 0.2853, 0.0548,
  position orientation, reference, node, eye,
  rotation orientation, reference, node, eye,
 position constraint, 0, 0, 0, null,
 orientation constraint, 0, 0, 0, null,
output, yes;

joint: giunto_spina22, total joint,
 nodo_222,
  position, reference, node, null,
  position orientation, reference, node, eye,
  rotation orientation, reference, node, eye,
 nodo_400,
  position, reference, node, 0.2591, -0.2853, 0.0548,
  position orientation, reference, node, eye,
  rotation orientation, reference, node, eye,
 position constraint, 0, 0, 0, null,
 orientation constraint, 0, 0, 0, null,
output, yes;
