model://ground_plane -25 -15 12.0539 7.08002e-18 0.2 0.352194 0.5 0.5 0.5 1 0.5 0.5 0.5 1 0 model://sun 0 0 -9.81 quick 50 1.4 0 1 0 0 0.001 1 1000 0 0 0 0 -0 0 0.0113715 0 0.0268706 0 -0 0 17.982 0.125569 0.0008 -0.000499757 0.0972062 -0.0005 0.117937 0 0 0 0 -0 0 0.1 0.9 0.9 0 0 0 0 -0 0 0.1 0.0599153 0 -0.01415 0 -0 0 0.01 0.01 0.01 0 0 1 0 0 0 1 1000 0 0.0002 7.5e-06 8e-07 0 0.0002 7.5e-06 8e-07 0 0.0002 7.5e-06 8e-07 0 0.017 0.1 0.001 0 0.017 0.1 0.001 0 0.017 0.1 0.001 0.0599153 0 -0.01415 0 -0 0 -0.0125 0 0 0 -0 0 -0.0112984 -3.15366e-06 0.0746835 0 -0 0 2.409 0.0039092 -5.04491e-08 -0.000342157 0.00341694 4.87119e-07 0.00174492 0 0 0 0 -0 0 0.1 0.9 0.9 0 0 0 0 -0 0 0.1 1 0 0 0 ltorso pelvis 0 0 1 -0.663225 0.663225 124.016 12 0.1 true 1 0 0.2 -0.0125 0 0.16197 0 -0 0 -0.00816266 -0.0131245 0.0305974 0 -0 0 0.69 0.000454181 -6.10764e-05 3.94009e-05 0.000483282 5.27463e-05 0.000444215 0 0 0 0 -0 0 0.1 0.9 0.9 0 0 0 0 -0 0 0.1 1 0 0 0 mtorso ltorso 0 1 0 -0.610691 0.438427 206.843 12 0.1 true 1 0 0.2 -0.0125 0 0.21197 0 -0 0 -0.0911174 0 0.300409 0 -0 0 52.207 1.47126 0.00362 0.329434 1.53128 0.001 1.32197 0 0 0 0 -0 0 0.1 0.9 0.9 0 0 0 0 -0 0 0.1 0.9 0.9 0 0 0 0 -0 0 0.1 0 0 0 0 -0 0 0.1 0.216409 0.121799 0.406759 -1.5708 5.55112e-17 1.309 0.01 0.01 0.01 0.216409 -0.121799 0.406759 1.5708 5.55112e-17 -1.309 0.01 0.01 0.01 0 0 0 0 1 0 0 0 utorso mtorso 1 0 0 -0.698132 0.698132 200 12 0.1 true 1 0 0.2 0.05191 0.13866 0.31915 0 -0 0 0 0.048 0.084 0 -0 0 3.45 0.011 0 0 0.009 -0.004 0.004 0 0 0 0 -0 0 0.1 0.9 0.9 0 0 0 0 -0 0 0.1 1 0 0 0 l_clav utorso 0 0.5 0.866025 -1.5708 0.785398 212 12 0.1 true 1 0 0.2 0.05191 0.27901 0.51524 0 -0 0 0 0 0 0 -0 0 3.012 0.00319 0 0 0.00583 0 0.00583 0 0 0 0 -0 0 0.1 0.9 0.9 0 0 0 0 -0 0 0.1 1 0 0 0 l_scap l_clav 1 0 0 -1.5708 1.5708 170 12 0.1 true 1 0 0.2 0.05191 0.46601 0.53124 0 -0 0 0 -0.065 0 0 -0 0 3.388 0.00656 0 0 0.00358 0 0.00656 0 0 0 0 -0 0 0.1 0.9 0.9 0 0 0 0 -0 0 0.1 1 0 0 0 l_uarm l_scap 0 1 0 0 3.14159 114 12 0.1 true 1 0 0.2 0.05191 0.58501 0.54045 0 -0 0 0 0 0 0 -0 0 2.509 0.00265 0 0 0.00446 0 0.00446 0 0 0 0 -0 0 0.1 0.9 0.9 0 0 0 0 -0 0 0.1 1 0 0 0 l_larm l_uarm 1 0 0 0 2.35619 114 12 0.1 true 1 0 0.2 0.05191 0.77201 0.53124 0 -0 0 0 -0.065 0 0 -0 0 3.388 0.00656 0 0 0.00358 0 0.00656 0 0 0 0 -0 0 0.1 0.9 0.9 0 0 0 0 -0 0 0.1 1 0 0 0 l_farm l_larm 0 1 0 0 3.14159 114 12 0.1 true 1 0 0.2 0.05191 0.89101 0.54045 0 -0 0 0 0 0 0 -0 0 2.509 0.00265 0 0 0.00446 0 0.00446 0 0 0 0 -0 0 0.1 0.9 0.9 0 0 0 0 -0 0 0.1 1 0 0 0 l_hand l_farm 1 0 0 -1.1781 1.1781 60 12 0.1 true 1 1 0 0.2 1 0.20422 0 0.74993 0 -0 0 -0.0754942 3.38765e-05 0.0277411 0 -0 0 1.41991 0.00361284 -1.51324e-06 -0.000892818 0.00208745 -6.83342e-07 0.00179047 -0.0503 0 -0.00195 0 -0 0 0.1311 0.12 0.0591 0.9 0.9 -0.093 0 0.0868 0 -0 0 0.0468 0.12 0.1184 0.9 0.9 0 0 0 0 -0 0 0.1 -0.0475 0.035 0 0 -0 0 0.01 0.01 0.01 0 0 0 0 1 1000 gaussian 0 0.0002 7.5e-06 8e-07 0 0.017 0.1 0.001 -0.0475 0.035 0 0 -0 0 1 0 0 0 head utorso 0 1 0 -0.602139 1.14494 5 12 0.1 true 1 0 0.2 0.15962 0 0.83793 0 -0 0 0.0124384 0.0004084 -0.0041783 0 -0 0 0.057664 0.000401606 4.9927e-08 1.0997e-05 0.00208115 -9.8165e-09 0.00178402 0.01885 0 -0.02119 0 -0 0 0.08 0.06 0.04238 0.9 0.9 0.03 0 0.0235 0 -0 0 0.047 0.024425 0.9 0.9 0.045 -0.0261018 -0.0834237 -0.314 0 0 0.1 0 0 1 0 0 0 hokuyo_link head 1 0 0 -1e+16 1e+16 0.01 true 1 0.05191 -0.13866 0.31915 0 -0 0 0 -0.048 0.084 0 -0 0 3.45 0.011 0 0 0.009 0.004 0.004 0 0 0 0 -0 0 0.1 0.9 0.9 0 0 0 0 -0 0 0.1 1 0 0 0 r_clav utorso 0 0.5 -0.866025 -1.5708 0.785398 212 12 0.1 true 1 0 0.2 0.05191 -0.27901 0.51524 0 -0 0 0 0 0 0 -0 0 3.012 0.00319 0 0 0.00583 0 0.00583 0 0 0 0 -0 0 0.1 0.9 0.9 0 0 0 0 -0 0 0.1 1 0 0 0 r_scap r_clav 1 0 0 -1.5708 1.5708 170 12 0.1 true 1 0 0.2 0.05191 -0.46601 0.53124 0 -0 0 0 0.065 0 0 -0 0 3.388 0.00656 0 0 0.00358 0 0.00656 0 0 0 0 -0 0 0.1 0.9 0.9 0 0 0 0 -0 0 0.1 1 0 0 0 r_uarm r_scap 0 1 0 0 3.14159 114 12 0.1 true 1 0 0.2 0.05191 -0.58501 0.54045 0 -0 0 0 0 0 0 -0 0 2.509 0.00265 0 0 0.00446 0 0.00446 0 0 0 0 -0 0 0.1 0.9 0.9 0 0 0 0 -0 0 0.1 1 0 0 0 r_larm r_uarm 1 0 0 -2.35619 0 114 12 0.1 true 1 0 0.2 0.05191 -0.77201 0.53124 0 -0 0 0 0.065 0 0 -0 0 3.388 0.00656 0 0 0.00358 0 0.00656 0 0 0 0 -0 0 0.1 0.9 0.9 0 0 0 0 -0 0 0.1 1 0 0 0 r_farm r_larm 0 1 0 0 3.14159 114 12 0.1 true 1 0 0.2 0.05191 -0.89101 0.54045 0 -0 0 0 0 0 0 -0 0 2.509 0.00265 0 0 0.00446 0 0.00446 0 0 0 0 -0 0 0.1 0.9 0.9 0 0 0 0 -0 0 0.1 1 0 0 0 r_hand r_farm 1 0 0 -1.1781 1.1781 60 12 0.1 true 1 1 0 0.2 1 0 0.089 0 0 -0 0 0.00529262 -0.00344732 0.00313046 0 -0 0 0.648 0.00074276 -3.79607e-08 -2.79549e-05 0.000688179 -3.2735e-08 0.00041242 0 0 0 0 -0 0 0.1 0.9 0.9 0 0 0 0 -0 0 0.1 1 0 0 0 l_uglut pelvis 0 0 1 -0.174533 1.22173 110 12 0.1 true 1 0 0.2 0 0.089 0 0 -0 0 0.0133341 0.0170484 -0.0312052 0 -0 0 0.866 0.000691326 -2.24344e-05 2.50508e-06 0.00126856 0.000137862 0.00106487 0 0 0 0 -0 0 0.1 0.9 0.9 0 0 0 0 -0 0 0.1 1 0 0 0 l_lglut l_uglut 1 0 0 -0.523599 0.523599 180 12 0.1 true 1 0 0.2 0.05 0.089 -0.05 0 -0 0 0 0 -0.21 0 -0 0 9.209 0.09 0 0 0.09 0 0.02 0 0 0 0 -0 0 0.1 0.9 0.9 0 0 0 0 -0 0 0.1 1 0 0 0 l_uleg l_lglut 0 1 0 -1.72072 0.524821 260 12 0.1 true 1 0 0.2 0 0.089 -0.424 0 -0 0 0.001 0 -0.187 0 -0 0 5.479 0.077 0 -0.003 0.076 0 0.01 0 0 0 0 -0 0 0.1 0.9 0.9 0 0 0 0 -0 0 0.1 1 0 0 0 l_lleg l_uleg 0 1 0 0 2.38569 220 12 0.1 true 1 0 0.2 0 0.089 -0.846 0 -0 0 0 0 0 0 -0 0 0.125 1.01674e-05 0 0 8.42775e-06 0 1.30101e-05 0 0 0 0 -0 0 0.1 0.9 0.9 0 0 0 0 -0 0 0.1 1 0 0 0 l_talus l_lleg 0 1 0 -1 0.7 700 12 0.1 true 1 0 0.2 0 0.089 -0.846 0 -0 0 0.027 0 -0.067 0 -0 0 2.05 0.002 0 0 0.007 0 0.008 0 0 0 0 -0 0 0.1 1e+06 100 1 0 1.5 1.5 1 0 0 0 0 0 0 -0 0 0.1 0 0 1 0 0 0 1000 1 l_foot_collision /l_foot_contact l_foot l_talus 1 0 0 -0.8 0.8 90 12 0.1 true 1 1 1 0 0.2 0 -0.089 0 0 -0 0 0.00529262 0.00344732 0.00313046 0 -0 0 0.648 0.00074276 3.79607e-08 -2.79549e-05 0.000688179 3.2735e-08 0.00041242 0 0 0 0 -0 0 0.1 0.9 0.9 0 0 0 0 -0 0 0.1 1 0 0 0 r_uglut pelvis 0 0 1 -1.22173 0.174533 110 12 0.1 true 1 0 0.2 0 -0.089 0 0 -0 0 0.0133341 -0.0170484 -0.0312052 0 -0 0 0.866 0.000691326 2.24344e-05 2.50508e-06 0.00126856 -0.000137862 0.00106487 0 0 0 0 -0 0 0.1 0.9 0.9 0 0 0 0 -0 0 0.1 1 0 0 0 r_lglut r_uglut 1 0 0 -0.523599 0.523599 180 12 0.1 true 1 0 0.2 0.05 -0.089 -0.05 0 -0 0 0 0 -0.21 0 -0 0 9.209 0.09 0 0 0.09 0 0.02 0 0 0 0 -0 0 0.1 0.9 0.9 0 0 0 0 -0 0 0.1 1 0 0 0 r_uleg r_lglut 0 1 0 -1.72072 0.524821 260 12 0.1 true 1 0 0.2 0 -0.089 -0.424 0 -0 0 0.001 0 -0.187 0 -0 0 5.479 0.077 -0 -0.003 0.076 -0 0.01 0 0 0 0 -0 0 0.1 0.9 0.9 0 0 0 0 -0 0 0.1 1 0 0 0 r_lleg r_uleg 0 1 0 0 2.38569 220 12 0.1 true 1 0 0.2 0 -0.089 -0.846 0 -0 0 0 0 0 0 -0 0 0.125 1.01674e-05 0 0 8.42775e-06 0 1.30101e-05 0 0 0 0 -0 0 0.1 0.9 0.9 0 0 0 0 -0 0 0.1 1 0 0 0 r_talus r_lleg 0 1 0 -1 0.7 700 12 0.1 true 1 0 0.2 0 -0.089 -0.846 0 -0 0 0.027 0 -0.067 0 -0 0 2.05 0.002 0 0 0.007 0 0.008 0 0 0 0 -0 0 0.1 1e+06 100 1 0 1.5 1.5 1 0 0 0 0 0 0 -0 0 0.1 0 0 1 0 0 0 1000 1 r_foot_collision /r_foot_contact r_foot r_talus 1 0 0 -0.8 0.8 90 12 0.1 true 1 1 1 0 0.2 r_foot world 0 0 1 0 0 0.1 true 1 l_foot world 0 0 1 0 0 0.1 true 1 0 0 1.1 0 -0 0