4 ground: body
"bodies/plane.off" color (0.9,0.9,0.9)
6 link: box (0,-0.25,-0.25)+(0.05,0.5,0.5) color (0.9,0.1,0.1)
10 SPH_SPH leg : ground (0,0,0) % Attach point of the leg on 'ground'
11 link (0,0,0) % Attach point of the leg on 'link'
12 length 1 % Length of the leg
13 radius 0.025 % Radius of the cylinder represenging the leg
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