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<tr><td bgcolor="#0d4283"><font color="#ffffff" size="3"><b>&nbsp;
Parameters
</b></font></td></tr>
</table>
<font face="Verdana" size="2">
<pre>
ID
</pre>
<blockquote>
Integer
<br>
identification number of the joint
</blockquote>
<pre>
target#
</pre>
<blockquote>
Float
<br>
target value ( angle / position ) of spring where the spring force force is zero
</blockquote>
<pre>
spring#
</pre>
<blockquote>
Float
<br>
spring coefficient
</blockquote>
<pre>
damper#
</pre>
<blockquote>
Float
<br>
damper coeffici