spherical.world

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[LINKS]

  ground: body "bodies/plane.off" color (0.9,0.9,0.9)

  link: cylinder 0.1 (0,0,0)(1,0,0) color (0.9,0.1,0.1)

[JOINTS]

  SPHERICAL: ground (0,0,0)  % This is Q_i in the ground reference frame
             link   (0,0,0)  % This is Q_i in the link reference frame
             range  [pi/16] (0,0,1) (1,0,0) % Vector in the ground and vector in the
                                       % link that coincide for angle 0. In other
                                       % words the angle between those vectors (when in
                                       % global coordinates) is the one we limit 
                                       % to +/- pi/18 (= 10 degrees)
             avoid limits