revolute.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]

  revolute: ground (0,0,0) (1,0,0)  % P_i and Q_i in the ground refence frame
            link   (0,0,0) (0,1,0)  % P_i and Q_i in the link refence frame
            range  [0,pi/2]  
                   (0,0,1) (0,0,1) % A vector in the ground reference frame and
                                   % a vector in the link frame that coincide when
                                   % when the rotated angle is 0.
            avoid limits