prismatic.world
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3 [LINKS]
4 
5  ground: body "bodies/plane.off" color (0.9,0.9,0.9)
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7  link: cylinder 0.1 (0,0,0)(1,0,0) color (0.9,0.1,0.1)
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9 [JOINTS]
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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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