Creature Description Language Tutorial

This page serves as the basis for learning how to encode robot designs as CDL files, for use with the RHexLib simulation environment.

• Introductory Example
• CDL Syntax and Semantics
• Numerical Calculations
• Rotations and Translations
• Basic Shapes
• Joints and Degrees of Freedom
• Renderer Options
• Other Functions
• Advanced Examples
• Using the CDL
• Preprocessors for Macro Expansion
• Documentation Revisions

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SimLib Reference Documentation