HY SET JOINT SWING2 MOTION 1, 1
PHY SET JOINT TWIST MOTION 1, 1
PHY SET JOINT SWING1 LIMIT 1, 35, 0.0, 0.5, 0.5
PHY SET JOINT SWING2 LIMIT 1, 35, 0.0, 0.5, 0.5
PHY SET JOINT TWIST LIMIT HIGH 1, 10, 0.0, 0.5, 0.5
PHY SET JOINT TWIST LIMIT LOW 1, -10, 0.0, 0.5, 0.5
PHY SET JOINT GLOBAL AXIS 1, 0, 1, 0

// FIXED JOINT DESCRIPTOR
//R-HAND - SWORD
PHY MAKE JOINT DESC 2
PHY SET JOINT MOTION X 2, 0
PHY SET JOINT MOTION Y 2, 0
PHY SET JOINT MOTION Z 2, 0
PHY SET JOINT SWING1 MOTION 2, 0
PHY SET JOINT SWING2 MOTION 