modelling a robot with lpzrobots

In creation of a hexapod:

// create body
    double twidth = conf.size * conf.width ;// 1/1.5;
    double theight = conf.size * conf.height; // 1/4;
    trunk = new Box(conf.size, twidth, theight);
    // trunk = new Capsule(twidth,conf.size);
    trunk->setTexture(trunkTex);
    trunk->init(odeHandle, conf.mass*conf.percentageBodyMass, osgHandle);
    //  @param pos struct Position with desired position
    /*
    @param pose position and orientation of sensor (e.g. camera) wrt.
        the primitive that is given at init()
    */
    osg::Matrix trunkPos = TRANSM(0,0,conf.legLength)*pose;
    trunk->setPose(trunkPos);
    objects.push_back(trunk);

fot every creation of robot:
object[0] is the main body (in hexapod case it is a trunk using Box shape)