NDOF
2
type 	  theta     d         a         alpha
0         0.0       0.0       0.0      -90.0
1         0.0       0.0       0.0        0.0
mass      cx        cy        cz        Ixx       Ixy       Ixz       Iyy       Iyz       Izz
2.0       0.0       0.0       0.0       1.0       0.0       0.0       1.0       0.0       1.0
1.0       0.0       0.0      -1.0       0.0833333 0.0       0.0       0.0833333 0.0       0.0833333


