4 ground: body
"bodies/plane.off" color (0.9,0.9,0.9)
6 link: cylinder 0.1 (0,0,0)(1,0,0) color (0.9,0.1,0.1)
10 SPHERICAL: ground (0,0,0) % This is Q_i in the ground reference frame
11 link (0,0,0) % This is Q_i in the link reference frame
12 range [pi/16] (0,0,1) (1,0,0) % Vector in the ground and vector in the
13 % link that coincide for angle 0. In other
14 % words the angle between those vectors (when in
15 % global coordinates) is the one we limit
16 % to +/- pi/18 (= 10 degrees)
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