<plugin filename="libSurface.so" name="vrx::Surface"> <link_name>${namespace}/base_link</link_name> <hull_length>4.9</hull_length> <hull_radius>0.213</hull_radius ...

Bondage, in general, can use any kind of restriction—handcuffs, tape, ties, scarves, etc.—but shibari refers exclusively to the practice of using rope, or rope-like material, to bind yourself or a ...