/** *********************** SCS ROBOT - Links ******************************* */
private void createAndAttachBodyLink(LinkNames linkName) {
Link link = new Link(LinkNames.BODY_LINK.getName());
Matrix3d inertiaBody = createInertiaMatrixBox(linkName);
link.setMomentOfInertia(inertiaBody);
link.setMass(RobotParameters.MASSES.get(LinkNames.BODY_LINK));
link.setComOffset(comOffsetBody);
Graphics3DObject linkGraphics = new Graphics3DObject();
linkGraphics.addCube(cubeX, cubeY, cubeZ, RobotParameters.APPEARANCE.get(LinkNames.BODY_LINK));
link.setLinkGraphics(linkGraphics);
// link.addEllipsoidFromMassProperties(YoAppearance.Green());
link.addCoordinateSystemToCOM(0.7);
bodyJointSCS.setLink(link);
}
