DuCTT: Making the rotation axes of joints work with rotating robot around x axis. Still need to figure out how to make it work with other axes rotations.
DuCTT: Accidentally uncommented a line I didn't mean to.
DuCTT: Can only support rotation of robot around x axis for now, prismatic and hinge joint rotation axes are off if robot rotates around any other. I'm not sure how to fix that.