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)
12 revolute: ground (0,0,0) (1,0,0) % P_1 and Q_1 defining the rotation
13 % axis in the ground refence frame
14 link (0,0,0) (0,1,0) % P_2 and Q_2 defining the rotation
15 % axis in the ground refence frame
17 (0,0,1) (1,0,0) % Two points R_1 and R_2 defining two
18 % vectors Q_1->R_1 Q_2->R_2 that coincide
19 % when the rotation is 0
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