#VRML_SIM R2025a utf8
# license: Copyright Cyberbotics Ltd. Licensed for use only with Webots.
# license url: https://cyberbotics.com/webots_assets_license
# documentation url: https://webots.cloud/run?url=https://github.com/cyberbotics/webots/blob/released/projects/robots/boston_dynamics/atlas/protos/Atlas.proto
# keywords: robot/legged
# The "Atlas" is a humanoid robot developed by Boston Dynamics with funding and oversight from DARPA.
# Extracted from: https://bitbucket.org/osrf/drcsim/src/c69ecab26a55/ros/atlas_description/urdf/atlas_simple_shapes.urdf

EXTERNPROTO "PelvisSolid.proto"
EXTERNPROTO "LtorsoSolid.proto"
EXTERNPROTO "MtorsoSolid.proto"
EXTERNPROTO "UtorsoSolid.proto"
EXTERNPROTO "LClavSolid.proto"
EXTERNPROTO "LScapSolid.proto"
EXTERNPROTO "LUarmSolid.proto"
EXTERNPROTO "LLarmSolid.proto"
EXTERNPROTO "LFarmSolid.proto"
EXTERNPROTO "LHandSolid.proto"
EXTERNPROTO "HeadMesh.proto"
EXTERNPROTO "RClavSolid.proto"
EXTERNPROTO "RScapSolid.proto"
EXTERNPROTO "RUarmSolid.proto"
EXTERNPROTO "RLarmSolid.proto"
EXTERNPROTO "RFarmSolid.proto"
EXTERNPROTO "RHandSolid.proto"
EXTERNPROTO "LUglutSolid.proto"
EXTERNPROTO "LLglutSolid.proto"
EXTERNPROTO "LUlegSolid.proto"
EXTERNPROTO "LLlegSolid.proto"
EXTERNPROTO "LTalusSolid.proto"
EXTERNPROTO "LFootSolid.proto"
EXTERNPROTO "RUglutSolid.proto"
EXTERNPROTO "RLglutSolid.proto"
EXTERNPROTO "RUlegSolid.proto"
EXTERNPROTO "RLlegSolid.proto"
EXTERNPROTO "RTalusSolid.proto"
EXTERNPROTO "RFootSolid.proto"

PROTO Atlas [
  field SFVec3f    translation     0 0 1              # Is `Pose.translation`.
  field SFRotation rotation        0 0 1 0            # Is `Pose.rotation`.
  field SFString   name            "Atlas"            # Is `Solid.name`.
  field SFString   controller      "hello_world_demo" # Is `Robot.controller`.
  field MFString   controllerArgs  []                 # Is `Robot.controllerArgs`.
  field SFString   window          "<generic>"        # Is `Robot.window`.
  field SFString   customData      ""                 # Is `Robot.customData`.
  field SFBool     supervisor      FALSE              # Is `Robot.supervisor`.
  field SFBool     synchronization TRUE               # Is `Robot.synchronization`.
  field MFNode     pelvisSlot      []                 # Extends the robot with new nodes in the pelvis slot.
]
{
  Robot {
    translation IS translation
    rotation IS rotation
    children [
      Group {
        children IS pelvisSlot
      }
      PelvisSolid {
      }
      DEF BackLbz HingeJoint {
        device RotationalMotor {
          name "BackLbz"
          maxVelocity 12
          minPosition -0.610865
          maxPosition 0.610865
          maxTorque 124.016
        }
        jointParameters HingeJointParameters {
          axis 0 0 1
          anchor -0.0125 0 0
          dampingConstant 0.1
        }
        endPoint Solid {
          translation -0.0125 0 0
          children [
            LtorsoSolid {
            }
            DEF BackMby HingeJoint {
              device RotationalMotor {
                name "BackMby"
                maxVelocity 12
                minPosition -1.2
                maxPosition 1.28
                maxTorque 206.843
              }
              jointParameters HingeJointParameters {
                axis 0 1 0
                anchor 0 0 0.09
                dampingConstant 0.1
              }
              endPoint Solid {
                translation 0 0 0.09
                children [
                  MtorsoSolid {
                  }
                  DEF BackUbx HingeJoint {
                    device RotationalMotor {
                      name "BackUbx"
                      maxVelocity 12
                      minPosition -0.790809
                      maxPosition 0.790809
                      maxTorque 94.91
                    }
                    jointParameters HingeJointParameters {
                      axis 1 0 0
                      anchor 0 0 0.05
                      dampingConstant 0.1
                    }
                    endPoint Solid {
                      translation 0 0 0.05
                      rotation 1 0 0 0
                      children [
                        UtorsoSolid {
                        }
                        DEF LArmUsy HingeJoint {
                          device RotationalMotor {
                            name "LArmUsy"
                            maxVelocity 12
                            minPosition -1.9635
                            maxPosition 1.9635
                            maxTorque 212
                          }
                          jointParameters HingeJointParameters {
                            axis 0 0.5 0.866025
                            anchor 0.024 0.221 0.289
                            dampingConstant 0.1
                          }
                          endPoint Solid {
                            translation 0.024 0.221 0.289
                            rotation 0 0.5 0.866025 0
                            children [
                              LClavSolid {
                              }
                              DEF LArmShx HingeJoint {
                                device RotationalMotor {
                                  name "LArmShx"
                                  maxVelocity 12
                                  minPosition -1.39626
                                  maxPosition 1.74533
                                  maxTorque 170
                                }
                                jointParameters HingeJointParameters {
                                  axis 1 0 0
                                  anchor 0 0.075 0.036
                                  dampingConstant 0.1
                                }
                                endPoint Solid {
                                  translation 0 0.075 0.036
                                  children [
                                    LScapSolid {
                                    }
                                    DEF LArmEly HingeJoint {
                                      device RotationalMotor {
                                        name "LArmEly"
                                        maxVelocity 12
                                        minPosition 0
                                        maxPosition 3.14159
                                        maxTorque 114
                                      }
                                      jointParameters HingeJointParameters {
                                        axis 0 1 0
                                        anchor 0 0.185 0
                                        dampingConstant 0.1
                                      }
                                      endPoint Solid {
                                        translation 0 0.185 0
                                        children [
                                          LUarmSolid {
                                          }
                                          DEF LArmElx HingeJoint {
                                            device RotationalMotor {
                                              name "LArmElx"
                                              maxVelocity 12
                                              minPosition 0
                                              maxPosition 2.35619
                                              maxTorque 114
                                            }
                                            jointParameters HingeJointParameters {
                                              axis 1 0 0
                                              anchor 0 0.121 0.013
                                              dampingConstant 0.1
                                            }
                                            endPoint Solid {
                                              translation 0 0.121 0.013
                                              children [
                                                LLarmSolid {
                                                }
                                                DEF LArmUwy HingeJoint {
                                                  device RotationalMotor {
                                                    name "LArmUwy"
                                                    maxVelocity 12
                                                    minPosition -1.571
                                                    maxPosition 1.571
                                                    maxTorque 114
                                                  }
                                                  jointParameters HingeJointParameters {
                                                    axis 0 1 0
                                                    anchor 0 0.188 -0.013
                                                    dampingConstant 0.1
                                                  }
                                                  endPoint Solid {
                                                    translation 0 0.188 -0.013
                                                    children [
                                                      LFarmSolid {
                                                      }
                                                      DEF LArmMwx HingeJoint {
                                                        device RotationalMotor {
                                                          name "LArmMwx"
                                                          maxVelocity 12
                                                          minPosition -0.436
                                                          maxPosition 1.571
                                                          maxTorque 60
                                                        }
                                                        jointParameters HingeJointParameters {
                                                          axis 1 0 0
                                                          anchor 0 0.058 0
                                                          dampingConstant 0.1
                                                        }
                                                        endPoint Solid {
                                                          translation 0 0.058 0
                                                          children [
                                                            LHandSolid {
                                                            }
                                                          ]
                                                          physics DEF DEFAULT_PHYSICS Physics {
                                                            density -1
                                                            mass 0.001
                                                            inertiaMatrix [ 1 1 1 0 0 0]
                                                            centerOfMass [0 0 0]
                                                          }
                                                        }
                                                      }
                                                    ]
                                                    physics USE DEFAULT_PHYSICS
                                                  }
                                                }
                                              ]
                                              physics USE DEFAULT_PHYSICS
                                            }
                                          }
                                        ]
                                        physics USE DEFAULT_PHYSICS
                                      }
                                    }
                                  ]
                                  physics USE DEFAULT_PHYSICS
                                }
                              }
                            ]
                            name "LArmUsy"
                            physics USE DEFAULT_PHYSICS
                          }
                        }
                        DEF NeckAy HingeJoint {
                          device RotationalMotor {
                            name "NeckAy"
                            maxVelocity 12
                            minPosition -0.610865238
                            maxPosition 1.13446401
                            maxTorque 5
                          }
                          jointParameters HingeJointParameters {
                            axis 0 1 0
                            anchor 0.01 0 0.43
                            dampingConstant 0.1
                          }
                          endPoint Solid {
                            translation 0.01 0 0.43
                            children [
                              HeadMesh {
                              }
                            ]
                            name "NeckAy"
                            physics USE DEFAULT_PHYSICS
                          }
                        }
                        DEF RArmUsy HingeJoint {
                          device RotationalMotor {
                            name "RArmUsy"
                            maxVelocity 12
                            minPosition -1.9635
                            maxPosition 1.9635
                            maxTorque 212
                          }
                          jointParameters HingeJointParameters {
                            axis 0 0.5 -0.866025
                            anchor 0.024 -0.221 0.289
                            dampingConstant 0.1
                          }
                          endPoint Solid {
                            translation 0.024 -0.221 0.289
                            rotation 0 0.5 -0.866025 0
                            children [
                              RClavSolid {
                              }
                              DEF RArmShx HingeJoint {
                                device RotationalMotor {
                                  name "RArmShx"
                                  maxVelocity 12
                                  minPosition -1.74533
                                  maxPosition 1.39626
                                  maxTorque 170
                                }
                                jointParameters HingeJointParameters {
                                  axis 1 0 0
                                  anchor 0 -0.075 0.036
                                  dampingConstant 0.1
                                }
                                endPoint Solid {
                                  translation 0 -0.075 0.036
                                  children [
                                    RScapSolid {
                                    }
                                    DEF RArmEly HingeJoint {
                                      device RotationalMotor {
                                        name "RArmEly"
                                        maxVelocity 12
                                        minPosition 0
                                        maxPosition 3.14159
                                        maxTorque 114
                                      }
                                      jointParameters HingeJointParameters {
                                        axis 0 1 0
                                        anchor 0 -0.185 0
                                        dampingConstant 0.1
                                      }
                                      endPoint Solid {
                                        translation 0 -0.185 0
                                        children [
                                          RUarmSolid {
                                          }
                                          DEF RArmElx HingeJoint {
                                            device RotationalMotor {
                                              name "RArmElx"
                                              maxVelocity 12
                                              minPosition -2.35619
                                              maxPosition 0
                                              maxTorque 114
                                            }
                                            jointParameters HingeJointParameters {
                                              axis 1 0 0
                                              anchor 0 -0.121 0.013
                                              dampingConstant 0.1
                                            }
                                            endPoint Solid {
                                              translation 0 -0.121 0.013
                                              children [
                                                RLarmSolid {
                                                }
                                                DEF RArmUwy HingeJoint {
                                                  device RotationalMotor {
                                                    name "RArmUwy"
                                                    maxVelocity 12
                                                    minPosition -1.571
                                                    maxPosition 1.571
                                                    maxTorque 114
                                                  }
                                                  jointParameters HingeJointParameters {
                                                    axis 0 1 0
                                                    anchor 0 -0.188 -0.013
                                                    dampingConstant 0.1
                                                  }
                                                  endPoint Solid {
                                                    translation 0 -0.188 -0.013
                                                    children [
                                                      RFarmSolid {
                                                      }
                                                      DEF RArmMwx HingeJoint {
                                                        device RotationalMotor {
                                                          name "RArmMwx"
                                                          maxVelocity 12
                                                          minPosition -1.571
                                                          maxPosition 0.436
                                                          maxTorque 60
                                                        }
                                                        jointParameters HingeJointParameters {
                                                          axis 1 0 0
                                                          anchor 0 -0.058 0
                                                          dampingConstant 0.1
                                                        }
                                                        endPoint Solid {
                                                          translation 0 -0.058 0
                                                          children [
                                                            RHandSolid {
                                                            }
                                                          ]
                                                          physics USE DEFAULT_PHYSICS
                                                        }
                                                      }
                                                    ]
                                                    physics USE DEFAULT_PHYSICS
                                                  }
                                                }
                                              ]
                                              physics USE DEFAULT_PHYSICS
                                            }
                                          }
                                        ]
                                        physics USE DEFAULT_PHYSICS
                                      }
                                    }
                                  ]
                                  physics USE DEFAULT_PHYSICS
                                }
                              }
                            ]
                            name "RArmUsy"
                            physics USE DEFAULT_PHYSICS
                          }
                        }
                      ]
                      physics USE DEFAULT_PHYSICS
                    }
                  }
                ]
                physics USE DEFAULT_PHYSICS
              }
            }
          ]
          name "BackLbz"
          physics USE DEFAULT_PHYSICS
        }
      }
      DEF LLegUhz HingeJoint {
        device RotationalMotor {
          name "LLegUhz"
          maxVelocity 12
          minPosition -0.32
          maxPosition 1.14
          maxTorque 110
        }
        jointParameters HingeJointParameters {
          axis 0 0 1
          anchor 0 0.089 0
          dampingConstant 0.1
        }
        endPoint Solid {
          translation 0 0.089 0
          children [
            LUglutSolid {
            }
            DEF LLegMhx HingeJoint {
              device RotationalMotor {
                name "LLegMhx"
                maxVelocity 12
                minPosition -0.47
                maxPosition 0.495
                maxTorque 180
              }
              jointParameters HingeJointParameters {
                axis 1 0 0
                anchor 0 0 0
                dampingConstant 0.1
              }
              endPoint Solid {
                children [
                  LLglutSolid {
                  }
                  DEF LLegLhy HingeJoint {
                    device RotationalMotor {
                      name "LLegLhy"
                      maxVelocity 12
                      minPosition -1.75
                      maxPosition 0.524
                      maxTorque 260
                    }
                    jointParameters HingeJointParameters {
                      axis 0 1 0
                      anchor 0.05 0 -0.05
                      dampingConstant 0.1
                    }
                    endPoint Solid {
                      translation 0.05 0 -0.05
                      children [
                        LUlegSolid {
                        }
                        DEF LLegKny HingeJoint {
                          device RotationalMotor {
                            name "LLegKny"
                            maxVelocity 12
                            minPosition 0
                            maxPosition 2.45
                            maxTorque 220
                          }
                          jointParameters HingeJointParameters {
                            axis 0 1 0
                            anchor -0.05 0 -0.374
                            dampingConstant 0.1
                          }
                          endPoint Solid {
                            translation -0.05 0 -0.374
                            children [
                              LLlegSolid {
                              }
                              DEF LLegUay HingeJoint {
                                device RotationalMotor {
                                  name "LLegUay"
                                  maxVelocity 12
                                  minPosition -0.698
                                  maxPosition 0.698
                                  maxTorque 220
                                }
                                jointParameters HingeJointParameters {
                                  axis 0 1 0
                                  anchor 0 0 -0.422
                                  dampingConstant 0.1
                                }
                                endPoint Solid {
                                  translation 0 0 -0.422
                                  children [
                                    LTalusSolid {
                                    }
                                    DEF LLegLax HingeJoint {
                                      device RotationalMotor {
                                        name "LLegLax"
                                        maxVelocity 12
                                        minPosition -0.436
                                        maxPosition 0.436
                                        maxTorque 90
                                      }
                                      jointParameters HingeJointParameters {
                                        axis 1 0 0
                                        anchor 0 0 0
                                        dampingConstant 0.1
                                      }
                                      endPoint Solid {
                                        translation 0 0 0
                                        children [
                                          LFootSolid {
                                          }
                                        ]
                                        physics USE DEFAULT_PHYSICS
                                      }
                                    }
                                  ]
                                  physics USE DEFAULT_PHYSICS
                                }
                              }
                            ]
                            physics USE DEFAULT_PHYSICS
                          }
                        }
                      ]
                      physics USE DEFAULT_PHYSICS
                    }
                  }
                ]
                physics USE DEFAULT_PHYSICS
              }
            }
          ]
          name "LLegUhz"
          physics USE DEFAULT_PHYSICS
        }
      }
      DEF RLegUhz HingeJoint {
        device RotationalMotor {
          name "RLegUhz"
          maxVelocity 12
          minPosition -1.14
          maxPosition 0.32
          maxTorque 260
        }
        jointParameters HingeJointParameters {
          axis 0 0 1
          anchor 0 -0.089 0
          dampingConstant 0.1
        }
        endPoint Solid {
          translation 0 -0.089 0
          children [
            RUglutSolid {
            }
            DEF RLegMhx HingeJoint {
              device RotationalMotor {
                name "RLegMhx"
                maxVelocity 12
                minPosition -0.495
                maxPosition 0.47
                maxTorque 180
              }
              jointParameters HingeJointParameters {
                axis 1 0 0
                anchor 0 0 0
                dampingConstant 0.1
              }
              endPoint Solid {
                children [
                  RLglutSolid {
                  }
                  DEF RLegLhy HingeJoint {
                    device RotationalMotor {
                      name "RLegLhy"
                      maxVelocity 12
                      minPosition -1.745
                      maxPosition 0.524
                      maxTorque 260
                    }
                    jointParameters HingeJointParameters {
                      axis 0 1 0
                      anchor 0.05 0 -0.05
                      dampingConstant 0.1
                    }
                    endPoint Solid {
                      translation 0.05 0 -0.05
                      children [
                        RUlegSolid {
                        }
                        DEF RLegKny HingeJoint {
                          device RotationalMotor {
                            name "RLegKny"
                            maxVelocity 12
                            minPosition 0
                            maxPosition 2.45
                            maxTorque 220
                          }
                          jointParameters HingeJointParameters {
                            axis 0 1 0
                            anchor -0.05 0 -0.374
                            dampingConstant 0.1
                          }
                          endPoint Solid {
                            translation -0.05 0 -0.374
                            children [
                              RLlegSolid {
                              }
                              DEF RLegUay HingeJoint {
                                device RotationalMotor {
                                  name "RLegUay"
                                  maxVelocity 12
                                  minPosition -0.698
                                  maxPosition 0.698
                                  maxTorque 220
                                }
                                jointParameters HingeJointParameters {
                                  axis 0 1 0
                                  anchor 0 0 -0.422
                                  dampingConstant 0.1
                                }
                                endPoint Solid {
                                  translation 0 0 -0.422
                                  children [
                                    RTalusSolid {
                                    }
                                    DEF RLegLax HingeJoint {
                                      device RotationalMotor {
                                        name "RLegLax"
                                        maxVelocity 12
                                        minPosition -0.436
                                        maxPosition 0.436
                                        maxTorque 90
                                      }
                                      jointParameters HingeJointParameters {
                                        axis 1 0 0
                                        anchor 0 0 0
                                        dampingConstant 0.1
                                      }
                                      endPoint Solid {
                                        children [
                                          RFootSolid {
                                          }
                                        ]
                                        physics USE DEFAULT_PHYSICS
                                      }
                                    }
                                  ]
                                  physics USE DEFAULT_PHYSICS
                                }
                              }
                            ]
                            physics USE DEFAULT_PHYSICS
                          }
                        }
                      ]
                      physics USE DEFAULT_PHYSICS
                    }
                  }
                ]
                physics USE DEFAULT_PHYSICS
              }
            }
          ]
          name "RLegUhz"
          physics USE DEFAULT_PHYSICS
        }
      }
    ]
    name IS name
    model "Boston Dynamics Atlas"
    controller IS controller
    controllerArgs IS controllerArgs
    window IS window
    customData IS customData
    supervisor IS supervisor
    synchronization IS synchronization
    physics USE DEFAULT_PHYSICS
  }
}