Link αi-1 ai-1 di θi θi, offset type min max

αi: Link twist (the angle between and zi and zi+1, measured in the plane normal to xi)
ai: Link length (the perpendicular distance between zi and zi+1, measured along xi)
di: Link offset (the distance from xi-1 to xi measured along zi)
θi: Joint angle (the angle between and xi-1 and xi, measured in the plane normal to zi)
θi, offset: θi offset
type: Joint type (revolute or prismatic)
min & max min and max joint value respectably

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