...legsim.tar.gz

Available at http://www-iri.upc.es/people/porta/legsim.tar.gz.

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...startup

However, all of them can be changed on-line if necessary.

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...unit

All measures used in the simulator are referred to a base unit not specified and that can be centimeters, inches or whatever the user prefers

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...transformations

See section 3.2.15 for more details about homogeneous transformations and functions to manipulate them.

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...world

get_translation(robot_to_world(robot),p) returns in p the position of the center of the robot in world coordinates.

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