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5 ground: body "bodies/plane.off" color (0.9,0.9,0.9)
7 link: cylinder 0.1 (0,0,0)(1,0,0) color (0.9,0.1,0.1)
11 prismatic: ground (0,0,0) (1,0,0) % P_i and Q_i in the ground refence frame
12 link (0,0,0) (1,0,0) % P_i and Q_i in the link refence frame
13 range [0,1] % \hat{d}_i
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