spherical.world
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1 
2 [LINKS]
3 
4  ground: body "bodies/plane.off" color (0.9,0.9,0.9)
5 
6  link: cylinder 0.1 (0,0,0)(1,0,0) color (0.9,0.1,0.1)
7 
8 [JOINTS]
9 
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)
17  avoid limits
18