#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/robotis/darwin-op/protos/Darwin-op.proto
# keywords: robot/legged
# Robotis' DARwIn-OP is an open platform, miniature humanoid robot used for research, education and outreach.
# The DARwIn-OP model contains principally:
# - the 20 DOF
# - LEDs
# - accelerometer
# - gyro
# - camera
# - realistic physics
# template language: javascript

EXTERNPROTO "webots://projects/joints/protos/HingeJointWithBacklash.proto"

PROTO Darwin-op [
  field SFVec3f    translation     0 0 0.227                  # Is `Pose.translation`.
  field SFRotation rotation        0 0 1 0                    # Is `Pose.rotation`.
  field SFString   name            "DARwIn-OP"                # Is `Solid.name`.
  field SFString   controller      "motion_player"            # 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 MFFloat    battery         []                         # Is `Robot.battery`.
  field SFBool     selfCollision   FALSE                      # Is `Robot.selfCollision`.
  field SFColor    plasticColor    0.301961 0.301961 0.301961 # Is `Material.plasticColor`.
  field SFInt32    cameraWidth     160                        # Is `Camera.width`.
  field SFInt32    cameraHeight    120                        # Is `Camera.height`.
  field SFNode     jersey          NULL                       # Extends the robot with a jersey: typically RobotisJersey.proto.
  field SFInt32    channel         0                          # Defines the channel for the `Emitter` and `Receiver` devices.
  field SFBool     backlash        FALSE                      # Enables backlash on all joints.
  field MFNode     bodySlot        []                         # Extends the robot with new nodes in the body slot.
  field MFNode     headSlot        []                         # Extends the robot with new nodes in the head slot.
  field MFNode     leftFootSlot    []                         # Extends the robot with new nodes in the left foot slot.
  field MFNode     rightFootSlot   []                         # Extends the robot with new nodes in the right foot slot.
  field MFNode     leftHandSlot    []                         # Extends the robot with new nodes in the left hand slot.
  field MFNode     rightHandSlot   []                         # Extends the robot with new nodes in the right hand slot.
#protected
  hiddenField SFString _model       "DARwIn-OP"
  hiddenField SFString _description "Robotis' DARwIn-OP modeled by Fabien Rohrer"
]
{
  %<
    const has_jersey = fields.jersey.value;
    const enable_backlash = fields.backlash.value;
    // tune backlash on joints
    const backlash = 0.01;
    const backlash_head = backlash;
    const backlash_neck = backlash;
    const backlash_shoulder = backlash;
    const backlash_arm_upper = backlash;
    const backlash_arm_lower = backlash;
    const backlash_pelv_y = backlash;
    const backlash_pelv = backlash;
    const backlash_leg_upper = backlash;
    const backlash_leg_lower = backlash;
    const backlash_ankle = backlash;
    const backlash_foot = backlash;
  >%
  Robot {
    translation IS translation
    rotation IS rotation
    battery IS battery
    children [
      DEF BODY_SLOT Group {
        children IS bodySlot
      }
      Pose {
        rotation 0.5774 0.5773 0.5773 2.0944
        children [
          DEF JERSEY_SLOT Slot {
            type "robotis jersey"
            endPoint IS jersey
          }
        ]
      }
      Pose {
        rotation 0.5774 0.5773 0.5773 2.0944
        children [
          DEF DBodyShape Shape {
            appearance DEF PLASTIC_APPEARANCE PBRAppearance {
              baseColor IS plasticColor
              roughness 0.4
              metalness 0
            }
            geometry IndexedFaceSet {
              coord Coordinate {
                point [
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              }
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              ]
              creaseAngle 0.2
            }
          }
        ]
      }
      LED {
        rotation 0.5774 0.5773 0.5773 2.0944
        %< if (has_jersey) { >%
          translation -0.056 -0.005 -0.01
        %< } else { >%
          translation -0.076 -0.005 -0.01
        %< } >%
        color [
          0 1 0
        ]
        name "BackLedGreen"
        children [
          Shape {
            appearance PBRAppearance {
              transparency 0.1
              metalness 0
              roughness 0.3
              emissiveIntensity 6
            }
            geometry Box {
              size 0.002 0.005 0.002
            }
          }
        ]
      }
      LED {
        rotation 0.5774 0.5773 0.5773 2.0944
        %< if (has_jersey) { >%
          translation -0.056 0 -0.01
        %< } else { >%
          translation -0.076 0 -0.01
        %< } >%
        color [
          0 0 1
        ]
        name "BackLedBlue"
        children [
          Shape {
            appearance PBRAppearance {
              transparency 0.1
              metalness 0
              roughness 0.3
              emissiveIntensity 6
            }
            geometry Box {
              size 0.002 0.005 0.002
            }
          }
        ]
      }
      LED {
        rotation 0.5774 0.5773 0.5773 2.0944
        %< if (has_jersey) { >%
          translation -0.056 0.005 -0.01
        %< } else { >%
          translation -0.076 0.005 -0.01
        %< } >%
        color [
          1 0 0
        ]
        name "BackLedRed"
        children [
          Shape {
            appearance PBRAppearance {
              metalness 0
              roughness 0.2
            }
            geometry Box {
              size 0.002 0.005 0.002
            }
          }
        ]
      }
      Speaker {
        translation 0.2 0 0
        rotation -0.9831 0.1294 -0.1294 -1.5878
        name "Speaker"
      }
      Accelerometer {
        translation -0.01 0 -0.068
        rotation 0 0 1.0 -1.5708
        name "Accelerometer"
        lookupTable [
          -39.24 0 0 39.24 1024 0
        ]
      }
      Gyro {
        translation 0.01 0 -0.068
        rotation 0 0 1.0 -3.1416
        name "Gyro"
        lookupTable [
          -27.925 0 0 27.925 1024 0
        ]
      }
      DEF RECEIVER Receiver {
        rotation 0.5774 0.5773 0.5773 2.0944
        name "receiver"
        channel IS channel
      }
      DEF EMITTER Emitter {
        rotation 0.5774 0.5773 0.5773 2.0944
        name "emitter"
        channel IS channel
      }
      DEF SUPER_EMITTER Emitter {
        rotation 0.5774 0.5773 0.5773 2.0944
        name "super_emitter"
        channel 2
      }
      # Neck
      %< if (enable_backlash) { >%
        DEF DNeck HingeJointWithBacklash {
          gearMass 0.001
          backlash %<= backlash_neck >%
      %< } else { >%
        DEF DNeck HingeJoint {
      %< } >%
          device [
            RotationalMotor {
              name "Neck"
              acceleration 55
              maxVelocity 12.26
              minPosition -1.81
              maxPosition 1.81
              maxTorque 2.5
            }
            PositionSensor {
              name "NeckS"
            }
          ]
          jointParameters HingeJointParameters {
            axis 0 0 1
            anchor 0.0 -0.0 0.051
            dampingConstant 0.002
            staticFriction 0.025
          }
          endPoint Solid {
            translation 0 0 0.051
            rotation 0.5774 0.5773 0.5773 2.0944
            children [
              DEF DNeckShape Shape {
                appearance DEF METAL_APPEARANCE PBRAppearance {
                  baseColor 0.7 0.7 0.7
                  roughness 0.2
                }
                geometry IndexedFaceSet {
                  coord Coordinate {
                    point [
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                  }
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                  creaseAngle 0.2
                }
              }
              # Head
              %< if (enable_backlash) { >%
                DEF DHead HingeJointWithBacklash {
                  gearMass 0.001
                  backlash %<= backlash_head >%
              %< } else { >%
                DEF DHead HingeJoint {
              %< } >%
                  device [
                    RotationalMotor {
                      name "Head"
                      acceleration 55
                      maxVelocity 12.26
                      minPosition -0.36
                      maxPosition 0.94
                      maxTorque 2.5
                    }
                    PositionSensor {
                      name "HeadS"
                    }
                  ]
                  jointParameters HingeJointParameters {
                    axis -1 0 0
                    position 0.19
                    dampingConstant 0.002
                    staticFriction 0.025
                  }
                  endPoint Solid {
                    rotation -1 0 0 -0.5954
                    children [
                      DEF HEAD_SLOT Pose {
                        translation 0 0.022 -0.012
                        children IS headSlot
                      }
                      DEF DHeadShape Group {
                        children [
                          Shape {
                            appearance USE PLASTIC_APPEARANCE
                            geometry IndexedFaceSet {
                              coord DEF DHeadCoord Coordinate {
                                point [
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                                ]
                              }
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                              ]
                              creaseAngle 0.52
                            }
                          }
                          Shape {
                            appearance DEF PUPIL_APPEARANCE PBRAppearance {
                              baseColor 0.05 0.05 0.05
                              metalness 0
                              roughness 0
                            }
                            geometry IndexedFaceSet {
                              coord USE DHeadCoord
                              coordIndex [
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                              ]
                              creaseAngle 0.52
                            }
                          }
                        ]
                      }
                      Camera {
                        translation 0 0.0329074 0.0359816
                        rotation 0.577351 0.577352 0.577348 -2.094396
                        children [
                          DEF DCameraShape Shape {
                            appearance DEF DCameraAppearance PBRAppearance {
                              metalness 0
                              roughness 0.3
                            }
                            geometry IndexedFaceSet {
                              coord Coordinate {
                                point [
                                  0.0016242 -0.0012902 0.0006454 0.0009796 -0.0012902 -0.0018532 0.0009796 0.0012902 -0.0018532 0.0016242 0.0012902 0.0006454 -0.0001212 -0.0030927 0.0010956 -0.0007657 -0.0030927 -0.001403 -0.001216 -0.0012902 -0.0031483 -0.001216 0.0012901 -0.0031484 -0.0007657 0.0030927 -0.001403 -0.0001212 0.0030927 0.0010956 0.0003291 -0.0012902 0.002841 0.0003291 0.0012902 0.002841
                                ]
                              }
                              coordIndex [
                                0 10 4 -1 1 5 6 -1 2 7 8 -1 3 9 11 -1 9 3 2 -1 9 2 8 -1 10 0 3 -1 10 3 11 -1 7 2 1 -1 7 1 6 -1 0 4 5 -1 0 5 1 -1 0 1 2 -1 0 2 3 -1
                              ]
                              creaseAngle 0.2
                            }
                          }
                        ]
                        name "Camera"
                        fieldOfView 1.0123
                        width IS cameraWidth
                        height IS cameraHeight
                        zoom Zoom {
                        }
                      }
                      DEF DEyeLED LED {
                        rotation 1 0 0 0
                        children [
                          DEF DEyeLEDShape Shape {
                            appearance DEF DEyeLEDAppearance PBRAppearance {
                              baseColor 0.7 0.7 0.7
                              metalness 0
                              roughness 0.3
                              emissiveIntensity 6
                            }
                            geometry IndexedFaceSet {
                              coord Coordinate {
                                point [
                                  0.0116412 0.0265999 0.0366955 -0.0116412 0.0265999 0.0366955 0.0152554 0.0218632 0.0363648 -0.0152554 0.0218632 0.0363648 0.0201309 0.0187384 0.0349243 -0.0201309 0.0187384 0.0349243 0.0255253 0.0177015 0.0325931 -0.0255253 0.0177015 0.0325931 0.0306174 0.0189101 0.0297263 -0.0306174 0.0189101 0.0297263 0.034632 0.0221804 0.0267603 -0.034632 0.0221804 0.0267603 0.0369579 0.0270145 0.0241466 -0.0369579 0.0270145 0.0241466 0.037241 0.0326763 0.0222832 -0.037241 0.0326763 0.0222832 0.0354382 0.038304 0.0214537 -0.0354382 0.038304 0.0214537 0.0318239 0.0430408 0.0217844 -0.0318239 0.0430408 0.0217844 0.0269485 0.0461655 0.023225 -0.0269485 0.0461655 0.023225 0.0215541 0.0472024 0.0255561 -0.0215541 0.0472024 0.0255561 0.016462 0.0459938 0.0284229 -0.016462 0.0459938 0.0284229 0.0124474 0.0427235 0.0313889 -0.0124474 0.0427235 0.0313889 0.0101215 0.0378894 0.0340026 -0.0101215 0.0378894 0.0340026 0.0098384 0.0322276 0.035866 -0.0098384 0.0322276 0.035866 0.0174415 0.0294527 0.0329804 -0.0174415 0.0294527 0.0329804 0.0192939 0.0270251 0.032811 -0.0192939 0.0270251 0.032811 0.0217926 0.0254236 0.0320726 -0.0217926 0.0254236 0.0320726 0.0245573 0.0248921 0.0308779 -0.0245573 0.0248921 0.0308779 0.0271671 0.0255116 0.0294086 -0.0271671 0.0255116 0.0294086 0.0292247 0.0271877 0.0278885 -0.0292247 0.0271877 0.0278885 0.0304167 0.0296652 0.026549 -0.0304167 0.0296652 0.026549 0.0305618 0.0325669 0.0255939 -0.0305618 0.0325669 0.0255939 0.0296378 0.0354512 0.0251688 -0.0296378 0.0354512 0.0251688 0.0277855 0.0378789 0.0253383 -0.0277855 0.0378789 0.0253383 0.0252868 0.0394803 0.0260766 -0.0252868 0.0394803 0.0260766 0.022522 0.0400118 0.0272713 -0.022522 0.0400118 0.0272713 0.0199123 0.0393923 0.0287406 -0.0199123 0.0393923 0.0287406 0.0178547 0.0377163 0.0302607 -0.0178547 0.0377163 0.0302607 0.0166627 0.0352387 0.0316003 -0.0166627 0.0352387 0.0316003 0.0165176 0.032337 0.0325553 -0.0165176 0.032337 0.0325553
                                ]
                              }
                              coordIndex [
                                0 32 62 -1 63 33 1 -1 0 62 30 -1 31 63 1 -1 0 2 34 -1 35 3 1 -1 0 34 32 -1 33 35 1 -1 2 4 36 -1 37 5 3 -1 2 36 34 -1 35 37 3 -1 6 8 40 -1 41 9 7 -1 6 40 38 -1 39 41 7 -1 8 10 42 -1 43 11 9 -1 8 42 40 -1 41 43 9 -1 10 12 44 -1 45 13 11 -1 10 44 42 -1 43 45 11 -1 14 16 48 -1 49 17 15 -1 14 48 46 -1 47 49 15 -1 16 18 50 -1 51 19 17 -1 16 50 48 -1 49 51 17 -1 18 20 52 -1 53 21 19 -1 18 52 50 -1 51 53 19 -1 22 24 56 -1 57 25 23 -1 22 56 54 -1 55 57 23 -1 24 26 58 -1 59 27 25 -1 24 58 56 -1 57 59 25 -1 26 28 60 -1 61 29 27 -1 26 60 58 -1 59 61 27 -1 28 30 62 -1 63 31 29 -1 28 62 60 -1 61 63 29 -1 4 6 38 -1 39 7 5 -1 4 38 36 -1 37 39 5 -1 12 14 46 -1 47 15 13 -1 12 46 44 -1 45 47 13 -1 20 22 54 -1 55 23 21 -1 20 54 52 -1 53 55 21 -1
                              ]
                              creaseAngle 0.2
                            }
                          }
                        ]
                        name "EyeLed"
                        color []
                        gradual TRUE
                      }
                      DEF DHeadLED LED {
                        rotation 1 0 0 0
                        children [
                          DEF DHeadLEDShape Shape {
                            appearance DEF DHeadLEDAppearance PBRAppearance {
                              baseColor 0.7 0.7 0.7
                              metalness 0
                              roughness 0.3
                              emissiveIntensity 6
                            }
                            geometry IndexedFaceSet {
                              coord Coordinate {
                                point [
                                  0 0.0488546 0.0285779 0 0.057406 0.0180599 0.0070464 0.0573781 0.01728 -0.0070464 0.0573781 0.01728 0.0083894 0.0559858 0.019199 -0.0083894 0.0559858 0.019199 0.008978 0.0540208 0.0218855 -0.008978 0.0540208 0.0218855 0.0049843 0.051013 0.0258813 -0.0049843 0.051013 0.0258813
                                ]
                              }
                              coordIndex [
                                0 8 1 -1 9 0 1 -1 1 8 6 -1 7 9 1 -1 1 6 4 -1 5 7 1 -1 1 4 2 -1 3 5 1 -1
                              ]
                              creaseAngle 0.2
                            }
                          }
                        ]
                        name "HeadLed"
                        color []
                        gradual TRUE
                      }
                    ]
                    boundingObject Pose {
                      translation 0 0.022 -0.012
                      children [
                        Capsule {
                          height 0.018
                          radius 0.042
                        }
                      ]
                    }
                    physics Physics {
                      density -1
                      mass 0.158042
                      centerOfMass [
                        6.39198e-05 0.0185645 0.00766662
                      ]
                      inertiaMatrix [
                        1.2396830e-04 1.1783781e-04 1.1583601e-04 7.8494368e-07 -7.6459790e-08 1.2199205e-05
                      ]
                    }
                  }
                }
            ]
            name "neck"
            boundingObject Pose {
              translation 0 -0.009 0
              children [
                Box {
                  size 0.044 0.043 0.022
                }
              ]
            }
            physics Physics {
              density -1
              mass 0.0243577
              centerOfMass [
                -0.00071 0.00142 -0.01657
              ]
              inertiaMatrix [
                5.1411124e-06 8.1915737e-06 1.1379812e-05 -5.7530255e-07 -2.4729049e-08 -1.9223094e-07
              ]
            }
          }
        }
      # PelvYL
      %< if (enable_backlash) { >%
        DEF DPelvYL HingeJointWithBacklash {
          gearMass 0.001
          backlash %<= backlash_pelv_y >%
      %< } else { >%
        DEF DPelvYL HingeJoint {
      %< } >%
          device [
            RotationalMotor {
              name "PelvYL"
              acceleration 55
              maxVelocity 12.26
              minPosition -0.69
              maxPosition 2.5
              maxTorque 2.5
            }
            PositionSensor {
              name "PelvYLS"
            }
          ]
          jointParameters HingeJointParameters {
            axis 0 0 -1
            anchor -0.005 0.037 -0.1222
            position -0.02
            dampingConstant 0.002
            staticFriction 0.025
          }
          endPoint Solid {
            translation -0.005 0.037 -0.122
            rotation 0.5697 0.5812 0.5812 2.106
            children [
              DEF DPelvYLShape Shape {
                appearance USE METAL_APPEARANCE
                geometry IndexedFaceSet {
                  coord Coordinate {
                    point [
                      0.0084461 -0.0084461 0.0247278 0.0084461 0.0084461 0.0247278 -0 0.0119446 0.0247278 -0.0084461 0.0084461 0.0247278 -0.0119446 -3.45e-05 0.0247278 -0.0084461 -0.0084461 0.0247278 -0 -0.0119446 0.0247278 0.0084461 -0.0084461 0.022564 0.0119446 -3.45e-05 0.022564 0.0084461 0.0084461 0.022564 -0 0.0119446 0.022564 -0.0084461 0.0084461 0.022564 -0.0119446 -3.45e-05 0.022564 -0.0084461 -0.0084461 0.022564 0 -0.0119446 0.022564 0 -0.0119446 -0.0258612 -0.0084461 -0.0084461 -0.0258612 -0.0119446 -3.45e-05 -0.0258612 -0.0084461 0.0084461 -0.0258612 -0 0.0119446 -0.0258612 0.0084461 0.0084461 -0.0258612 0.0119446 -3.45e-05 -0.0258612 0.0084461 -0.0084461 -0.0258612 -0 -0.0119446 -0.0238143 -0.0084461 -0.0084461 -0.0238143 -0.0119446 -3.45e-05 -0.0238143 -0.0084461 0.0084461 -0.0238143 -0 0.0119446 -0.0238143 0.0084461 0.0084461 -0.0238143 0.0084461 -0.0084461 -0.0238143 -0.0108345 0.0313981 0.026288 -0.0108345 0.0313981 -0.0238143 0.0109716 0.0313981 0.026288 0.0109716 0.0313981 -0.0238143 0.0109716 0.0300063 -0.022288 0.0109716 0.0300063 0.0247278 -0.0108345 0.0300063 0.0247278 -0.0108345 0.0300063 -0.022288 -0.0108345 -3.45e-05 -0.022288 -0.0108345 -3.45e-05 0.0247278 0.0109716 -3.45e-05 0.0247278 0.0109716 -3.45e-05 -0.022288 0.0109716 -3.45e-05 -0.0238143 0.0109716 -3.45e-05 0.026288 -0.0108345 -3.45e-05 0.026288 -0.0108345 -3.45e-05 -0.0238143 0 0.0332829 -0.010382 -0.0073412 0.0332829 -0.0073412 -0.010382 0.0332829 -0 -0.0073412 0.0332829 0.0073412 -0 0.0332829 0.010382 0.0073412 0.0332829 0.0073412 0.010382 0.0332829 -0 0.0073412 0.0332829 -0.0073412 -0 0.0313981 -0.010382 -0.0073412 0.0313981 -0.0073412 -0.010382 0.0313981 -0 -0.0073412 0.0313981 0.0073412 -0 0.0313981 0.010382 0.0073412 0.0313981 0.0073412 0.010382 0.0313981 -0 0.0073412 0.0313981 -0.0073412 0.0029764 -0.0029802 -0.0263812 0.0042093 -2.31e-05 -0.0263812 0.0029764 0.0029726 -0.0263812 0 0.0042054 -0.0263812 -0.0029764 0.0029726 -0.0263812 -0.0042093 -2.31e-05 -0.0263812 -0.0029764 -0.0029802 -0.0263812 0 -0.0042131 -0.0263812 0 -0.0042131 0.0267308 -0.0029764 -0.0029802 0.0267308 -0.0042093 -2.31e-05 0.0267308 -0.0029764 0.0029726 0.0267308 0 0.0042054 0.0267308 0.0029764 0.0029726 0.0267308 0.0042093 -2.31e-05 0.0267308 0.0029764 -0.0029802 0.0267308
                    ]
                  }
                  coordIndex [
                    1 2 3 -1 40 1 3 -1 40 3 4 -1 0 40 4 -1 0 4 5 -1 0 5 6 -1 9 11 10 -1 9 12 11 -1 8 12 9 -1 7 12 8 -1 7 13 12 -1 14 13 7 -1 46 47 53 -1 53 47 48 -1 53 48 52 -1 52 48 51 -1 51 48 49 -1 51 49 50 -1 28 27 26 -1 42 28 26 -1 42 26 25 -1 29 42 25 -1 29 25 24 -1 29 24 23 -1 20 18 19 -1 20 17 18 -1 21 17 20 -1 22 17 21 -1 22 16 17 -1 15 16 22 -1 69 68 62 -1 62 68 67 -1 62 67 63 -1 63 67 64 -1 64 67 66 -1 64 66 65 -1 71 70 77 -1 71 77 72 -1 72 77 76 -1 72 76 75 -1 72 75 73 -1 73 75 74 -1 63 77 62 -1 63 76 77 -1 64 76 63 -1 64 75 76 -1 65 75 64 -1 65 74 75 -1 66 74 65 -1 66 73 74 -1 67 73 66 -1 67 72 73 -1 68 72 67 -1 68 71 72 -1 69 71 68 -1 69 70 71 -1 62 70 69 -1 62 77 70 -1 61 53 52 -1 61 52 60 -1 60 52 51 -1 60 51 59 -1 59 51 50 -1 59 50 58 -1 58 50 49 -1 58 49 57 -1 57 49 48 -1 57 48 56 -1 56 48 47 -1 56 47 55 -1 55 47 46 -1 55 46 54 -1 53 61 54 -1 53 54 46 -1 38 34 37 -1 38 41 34 -1 36 40 39 -1 36 35 40 -1 34 36 37 -1 34 35 36 -1 42 38 45 -1 42 41 38 -1 44 40 43 -1 44 39 40 -1 33 45 31 -1 33 42 45 -1 30 43 32 -1 30 44 43 -1 34 42 33 -1 34 41 42 -1 32 43 35 -1 35 43 40 -1 36 44 30 -1 36 39 44 -1 31 45 37 -1 37 45 38 -1 30 31 36 -1 36 31 37 -1 33 35 34 -1 33 32 35 -1 30 33 31 -1 30 32 33 -1 29 22 21 -1 29 21 42 -1 42 21 20 -1 42 20 28 -1 28 20 19 -1 28 19 27 -1 27 19 18 -1 27 18 26 -1 26 18 17 -1 26 17 25 -1 25 17 16 -1 25 16 24 -1 24 16 15 -1 24 15 23 -1 23 15 22 -1 23 22 29 -1 7 0 6 -1 7 6 14 -1 5 13 14 -1 5 14 6 -1 4 12 13 -1 4 13 5 -1 3 11 12 -1 3 12 4 -1 2 10 11 -1 2 11 3 -1 1 9 10 -1 1 10 2 -1 40 8 9 -1 40 9 1 -1 0 7 8 -1 0 8 40 -1
                  ]
                  creaseAngle 0.2
                }
              }
              # PelvL
              %< if (enable_backlash) { >%
                DEF DPelvL HingeJointWithBacklash {
                  gearMass 0.001
                  backlash %<= backlash_pelv >%
              %< } else { >%
                DEF DPelvL HingeJoint {
              %< } >%
                  device [
                    RotationalMotor {
                      name "PelvL"
                      acceleration 55
                      maxVelocity 12.26
                      minPosition -1
                      maxPosition 0.93
                      maxTorque 2.5
                    }
                    PositionSensor {
                      name "PelvLS"
                    }
                  ]
                  jointParameters HingeJointParameters {
                    axis 0 0 -1
                    position -0.01
                    dampingConstant 0.002
                    staticFriction 0.025
                  }
                  endPoint Solid {
                    rotation 0 0 -1 -0.01
                    children [
                      DEF DPelvLShape Shape {
                        appearance DEF MOTOR_APPEARANCE PBRAppearance {
                          baseColor 0 0 0
                          roughness 0.4
                          metalness 0
                        }
                        geometry IndexedFaceSet {
                          coord Coordinate {
                            point [
                              0.0180439 0.0115761 0.0214732 0.0180446 0.0115761 -0.0191624 -0.0175731 0.0115761 -0.0191624 -0.0175738 0.0115761 0.0214732 0.0180445 -0.0390897 -0.0141305 -0.0175731 -0.0390897 -0.0141305 -0.0175729 -0.0274952 -0.0268336 -0.0175723 -0.0274952 -0.0618489 0.0180453 -0.0274952 -0.0618482 0.0180447 -0.0274952 -0.026833 -0.0175729 0.0057494 -0.0268336 -0.0175723 0.0057494 -0.0618489 0.0180453 0.0057494 -0.0618482 0.0180447 0.0057494 -0.026833 0.0180439 -0.012828 0.0214732 -0.0175738 -0.012828 0.0214732 -0.0175737 -0.012828 0.0173256 0.0180439 -0.012828 0.0173256 0.0155869 -0.0390897 -0.0141304 -0.0151086 -0.0390897 -0.0141307 -0.0151077 -0.012828 0.0173255 0.0155877 -0.012828 0.0173258 -0.0151076 -0.012828 0.0113907 0.0155878 -0.012828 0.0113913 0.0155878 -0.0330725 0.0113913 -0.0151076 -0.0330725 0.0113907 -0.0151071 -0.0330725 -0.0190517 0.0155884 -0.0330725 -0.0190514 0.0180446 -0.0330725 -0.0190513 -0.0175731 -0.0330725 -0.0190518 0.0155877 -0.0330725 0.0173258 0.0180439 -0.0330725 0.0173256 -0.0175737 -0.0330725 0.0173256 -0.0151077 -0.0330725 0.0173255 0.018044 -0.0390897 0.0113913 0.0155876 -0.0390897 0.0113913 -0.0151079 -0.0390897 0.0113907 -0.0175736 -0.0390897 0.0113907 -0.0175729 -0.0274952 -0.0296594 -0.0175724 -0.0274952 -0.0590223 0.0180453 -0.0274952 -0.0590216 0.0180448 -0.0274952 -0.0296588 -0.0175729 0.0057494 -0.0296594 -0.0175724 0.0057494 -0.0590223 0.0180453 0.0057494 -0.0590216 0.0180448 0.0057494 -0.0296588 -0.0125429 -0.033322 -0.0590222 -0.0125435 -0.033322 -0.0296593 0.0128508 -0.033322 -0.0296589 0.0128513 -0.033322 -0.0590217 -0.0125429 0.0115761 -0.0590222 -0.0125435 0.0115761 -0.0296593 0.0128508 0.0115761 -0.0296589 0.0128513 0.0115761 -0.0590217 0.0128514 0.0115761 -0.0618483 0.0128508 0.0115761 -0.0268331 0.0128514 -0.033322 -0.0618483 0.0128508 -0.033322 -0.0268331 -0.0125429 0.0115761 -0.0618488 -0.0125429 -0.033322 -0.0618488 -0.0125435 -0.033322 -0.0268335 -0.0125435 0.0115761 -0.0268335 -0.0097554 -0.0094035 -0.0157652 -0.0097552 -0.0094035 -0.0307516 -0.0097552 -0.0153643 -0.0307516 -0.0097555 -0.0153643 -0.0157652 0.0100624 -0.0094034 -0.0157649 0.0100627 -0.0094034 -0.0307513 0.0100626 -0.0153642 -0.0307513 0.0100624 -0.0153642 -0.0157649 0.0100623 -0.0324485 -0.0157649 0.0100626 -0.0324485 -0.0307513 0.0100626 -0.0264878 -0.0307513 0.0100624 -0.0264878 -0.0157649 -0.0097555 -0.0324486 -0.0157652 -0.0097552 -0.0324486 -0.0307516 -0.0097552 -0.0264878 -0.0307516 -0.0097555 -0.0264878 -0.0157652
                            ]
                          }
                          coordIndex [
                            0 14 1 -1 15 3 2 -1 1 14 17 -1 2 16 15 -1 16 20 15 -1 21 17 14 -1 22 33 25 -1 27 35 24 -1 5 26 19 -1 4 18 27 -1 4 27 28 -1 1 28 27 -1 1 17 28 -1 5 29 26 -1 2 26 29 -1 2 29 16 -1 33 36 25 -1 35 30 24 -1 33 22 20 -1 35 27 18 -1 31 28 17 -1 37 29 5 -1 75 74 77 -1 75 77 76 -1 73 70 71 -1 73 71 72 -1 77 73 72 -1 77 72 76 -1 75 71 70 -1 75 70 74 -1 64 68 69 -1 64 69 65 -1 62 66 67 -1 62 67 63 -1 66 69 68 -1 66 68 67 -1 64 65 62 -1 64 62 63 -1 46 47 51 -1 46 51 50 -1 56 46 59 -1 56 49 46 -1 46 48 47 -1 46 49 48 -1 47 48 57 -1 47 57 60 -1 55 51 61 -1 55 52 51 -1 54 58 50 -1 54 50 53 -1 50 52 53 -1 50 51 52 -1 38 42 51 -1 38 51 47 -1 6 38 47 -1 6 47 60 -1 6 60 61 -1 6 61 10 -1 10 61 51 -1 10 51 42 -1 11 43 50 -1 11 50 58 -1 39 46 50 -1 39 50 43 -1 7 11 58 -1 7 58 59 -1 7 59 46 -1 7 46 39 -1 9 57 48 -1 9 48 41 -1 9 13 55 -1 9 55 57 -1 13 45 52 -1 13 52 55 -1 8 40 49 -1 8 49 56 -1 12 54 53 -1 12 53 44 -1 8 54 12 -1 8 56 54 -1 40 44 53 -1 40 53 49 -1 55 60 57 -1 55 61 60 -1 56 58 54 -1 56 59 58 -1 48 53 52 -1 48 49 53 -1 40 8 12 -1 40 12 44 -1 9 41 45 -1 9 45 13 -1 38 6 10 -1 38 10 42 -1 7 39 43 -1 7 43 11 -1 36 33 32 -1 36 32 37 -1 30 35 34 -1 30 34 31 -1 29 37 16 -1 37 32 16 -1 28 31 34 -1 28 34 4 -1 1 27 26 -1 1 26 2 -1 26 25 19 -1 25 36 19 -1 24 25 26 -1 24 26 27 -1 23 24 30 -1 23 30 21 -1 23 22 25 -1 23 25 24 -1 14 15 20 -1 14 20 21 -1 20 22 23 -1 20 23 21 -1 36 37 5 -1 36 5 19 -1 34 35 18 -1 34 18 4 -1 32 33 20 -1 32 20 16 -1 30 31 17 -1 30 17 21 -1 14 0 3 -1 14 3 15 -1 0 1 2 -1 0 2 3 -1 41 48 52 45 -1
                          ]
                          creaseAngle 0.2
                        }
                      }
                      # LegUpperL
                      %< if (enable_backlash) { >%
                        DEF DLegUpperL HingeJointWithBacklash {
                          gearMass 0.001
                          backlash %<= backlash_leg_upper >%
                      %< } else { >%
                        DEF DLegUpperL HingeJoint {
                      %< } >%
                          device [
                            RotationalMotor {
                              name "LegUpperL"
                              acceleration 55
                              maxVelocity 12.26
                              minPosition -0.5
                              maxPosition 1.68
                              maxTorque 2.5
                            }
                            PositionSensor {
                              name "LegUpperLS"
                            }
                          ]
                          jointParameters HingeJointParameters {
                            axis -1 0 0
                            position 1.15
                            dampingConstant 0.002
                            staticFriction 0.025
                          }
                          endPoint Solid {
                            rotation -1 0 0 1.15
                            children [
                              DEF DLegUpperLShape Group {
                                children [
                                  Shape {
                                    appearance USE PLASTIC_APPEARANCE
                                    geometry IndexedFaceSet {
                                      coord DEF DLegUpperLCoord Coordinate {
                                        point [
                                          0.0148675 -0.0550762 0.0116404 0.0148666 -0.105434 0.0116412 0.014868 -0.0550767 -0.0137539 0.014867 -0.105435 -0.0137531 0.0104632 -0.105435 -0.0137532 0.0104628 -0.105434 0.0116411 0.0104642 -0.0550766 -0.013754 0.0104638 -0.0550761 0.0116403 0.0104634 -0.0995206 -0.0189472 0.0104628 -0.0995199 0.0166704 0.0104642 -0.0609908 -0.0189478 0.0104636 -0.0609902 0.0166698 0.0148672 -0.0995207 -0.0189471 0.0148666 -0.0995201 0.0166705 0.014868 -0.0609909 -0.0189477 0.0148673 -0.0609903 0.0166699 -0.0103675 -0.0609894 0.016669 -0.0103668 -0.0609901 -0.0189486 -0.0103682 -0.0995192 0.0166696 -0.0103676 -0.0995198 -0.018948 -0.0147712 -0.0609893 0.0166689 -0.0147706 -0.0609899 -0.0189487 -0.014772 -0.0995191 0.0166695 -0.0147714 -0.0995197 -0.0189481 -0.014771 -0.0550753 0.0116394 -0.0147706 -0.0550757 -0.0137548 -0.014772 -0.105433 0.0116402 -0.0147716 -0.105434 -0.0137541 -0.0103678 -0.105434 -0.013754 -0.0103668 -0.0550758 -0.0137548 -0.0103682 -0.105433 0.0116403 -0.0103673 -0.0550754 0.0116395 0.0182062 -0.105435 -0.013753 0.0182072 -0.0550767 -0.0137538 0.0182058 -0.105434 0.0116413 0.0182068 -0.0550763 0.0116405 -0.0177682 -0.105434 -0.0137541 -0.0177687 -0.105433 0.0116402 -0.0177672 -0.0550756 -0.0137549 -0.0177677 -0.0550752 0.0116394 0.0268712 -0.104905 -0.0082253 -0.0268712 -0.104905 -0.0082253 0.026871 -0.10766 -0.0007456 -0.026871 -0.10766 -0.0007456 0.0268709 -0.105566 0.0070039 -0.0268709 -0.105566 0.0070039 0.0247075 -0.100249 0.0112405 -0.0247075 -0.100249 0.0112405 0.0207275 -0.079843 0.0190445 -0.0207275 -0.079843 0.0190445 0.020718 -0.0748146 0.0190445 -0.020718 -0.0748146 0.0190445 0.0151308 -0.0748146 0.025602 -0.0151308 -0.0748146 0.025602 0.0151422 -0.0393893 0.025602 -0.0151422 -0.0393893 0.025602 0.0191712 -0.0383065 0.0220794 -0.0191712 -0.0383065 0.0220794 0.020085 -0.0355735 0.0202946 -0.020085 -0.0355735 0.0202946 0.0202365 -0.0210323 0.0199852 -0.0202365 -0.0210323 0.0199852 0.0247061 0.0037188 0.0112418 -0.0247061 0.0037188 0.0112418 0.0268709 0.0088188 0.0070039 -0.0268709 0.0088188 0.0070039 0.026871 0.011922 0.0021987 -0.026871 0.011922 0.0021987 0.0268711 0.0117651 -0.0047315 -0.0268711 0.0117651 -0.0047315 0.0268712 0.0086289 -0.0101251 -0.0268712 0.0086289 -0.0101251 0.0268712 0.0032575 -0.0132311 -0.0268712 0.0032575 -0.0132311 0.0268712 -0.0529296 -0.012096 -0.0268712 -0.0529296 -0.012096 0.0268713 -0.0686317 -0.0189066 -0.0268713 -0.0686317 -0.0189066 0.0268712 -0.0998468 -0.0124744 -0.0268712 -0.0998468 -0.0124744 0 -0.0748146 0.0256017 0 -0.0393893 0.0256017 0.0191712 -0.0748146 0.0220794 -0.0191712 -0.0748146 0.0220794 0.0182379 -0.0748146 0.0210424 -0.0182379 -0.0748146 0.0210424 0 -0.0393893 0.0245647 0 -0.0748146 0.0245647 0.0216682 -0.0998468 -0.0125575 -0.0216682 -0.0998468 -0.0125575 0.0216683 -0.0686317 -0.0189896 -0.0216683 -0.0686317 -0.0189896 0.0216682 -0.0529296 -0.0121791 -0.0216682 -0.0529296 -0.0121791 0.0216682 0.0032575 -0.0133142 -0.0216682 0.0032575 -0.0133142 0.0216682 0.0086289 -0.0102081 -0.0216682 0.0086289 -0.0102081 0.0216681 0.0117651 -0.0048146 -0.0216681 0.0117651 -0.0048146 0.021668 0.011922 0.0021157 -0.021668 0.011922 0.0021157 0.0182379 -0.0383065 0.0210424 -0.0182379 -0.0383065 0.0210424 0.0142089 -0.0393893 0.0245649 -0.0142089 -0.0393893 0.0245649 0.0141975 -0.0748146 0.0245649 -0.0141975 -0.0748146 0.0245649 0.021668 -0.10766 -0.0008287 -0.021668 -0.10766 -0.0008287 0.0216682 -0.104905 -0.0083083 -0.0216682 -0.104905 -0.0083083 0.0216679 -0.105566 0.0070038 -0.0216679 -0.105566 0.0070038 0.0216679 0.0088188 0.0070038 -0.0216679 0.0088188 0.0070038 0.0206395 -0.100249 0.0112405 -0.0206395 -0.100249 0.0112405 0.0187179 -0.0748146 0.0190444 -0.0187179 -0.0748146 0.0190444 0.0187613 -0.079843 0.0190444 -0.0187613 -0.079843 0.0190444 0.0184737 -0.0210323 0.0199852 -0.0184737 -0.0210323 0.0199852 0.0184239 -0.0355735 0.0202946 -0.0184239 -0.0355735 0.0202946 0.0206127 0.0037188 0.0112418 -0.0206127 0.0037188 0.0112418
                                        ]
                                      }
                                      coordIndex [
                                        50 48 46 -1 47 49 51 -1 64 58 46 -1 47 59 65 -1 64 46 44 -1 45 47 65 -1 52 56 54 -1 55 57 53 -1 58 56 50 -1 51 57 59 -1 58 50 46 -1 47 51 59 -1 58 64 62 -1 63 65 59 -1 58 62 60 -1 61 63 59 -1 76 74 78 -1 79 75 77 -1 42 64 44 -1 45 65 43 -1 72 66 74 -1 75 67 73 -1 74 66 64 -1 65 67 75 -1 74 64 78 -1 79 65 75 -1 70 68 66 -1 67 69 71 -1 70 66 72 -1 73 67 71 -1 78 64 42 -1 43 65 79 -1 42 40 78 -1 79 41 43 -1 52 82 56 -1 57 83 53 -1 82 50 56 -1 57 51 83 -1 104 102 106 -1 107 103 105 -1 88 92 90 -1 91 93 89 -1 92 100 94 -1 95 101 93 -1 100 98 96 -1 97 99 101 -1 94 100 96 -1 97 101 95 -1 88 110 108 -1 109 111 89 -1 102 84 106 -1 107 85 103 -1 114 108 112 -1 109 115 113 -1 100 108 114 -1 109 101 115 -1 92 108 100 -1 109 93 101 -1 92 88 108 -1 89 93 109 -1 122 118 124 -1 119 123 125 -1 126 118 122 -1 119 127 123 -1 118 116 120 -1 117 119 121 -1 126 116 118 -1 117 127 119 -1 114 116 126 -1 117 115 127 -1 114 112 116 -1 113 115 117 -1 44 46 112 -1 113 47 45 -1 46 116 112 -1 113 117 47 -1 46 48 116 -1 117 49 47 -1 48 120 116 -1 117 121 49 -1 48 50 120 -1 121 51 49 -1 50 118 120 -1 121 119 51 -1 84 102 118 -1 119 103 85 -1 102 124 118 -1 119 125 103 -1 62 64 114 -1 115 65 63 -1 62 114 126 -1 127 115 63 -1 60 62 126 -1 127 63 61 -1 60 126 122 -1 123 127 61 -1 58 60 122 -1 123 61 59 -1 58 122 124 -1 125 123 59 -1 56 58 124 -1 125 59 57 -1 56 124 102 -1 103 125 57 -1 64 66 114 -1 115 67 65 -1 66 100 114 -1 115 101 67 -1 86 104 106 -1 107 105 86 -1 86 106 87 -1 87 107 86 -1 78 40 110 -1 111 41 79 -1 78 110 88 -1 89 111 79 -1 40 42 108 -1 109 43 41 -1 40 108 110 -1 111 109 41 -1 54 56 102 -1 103 57 55 -1 54 102 104 -1 105 103 55 -1 66 68 100 -1 101 69 67 -1 68 98 100 -1 101 99 69 -1 68 70 98 -1 99 71 69 -1 70 96 98 -1 99 97 71 -1 72 74 92 -1 93 75 73 -1 72 92 94 -1 95 93 73 -1 74 76 92 -1 93 77 75 -1 76 90 92 -1 93 91 77 -1 76 78 88 -1 89 79 77 -1 76 88 90 -1 91 89 77 -1 70 72 96 -1 97 73 71 -1 72 94 96 -1 97 95 73 -1 81 54 104 -1 105 55 81 -1 81 104 86 -1 86 105 81 -1 52 80 106 -1 107 80 53 -1 80 87 106 -1 107 87 80 -1 82 52 84 -1 85 53 83 -1 52 106 84 -1 85 107 53 -1 52 54 81 -1 81 55 53 -1 52 81 80 -1 80 81 53 -1 43 109 113 45 -1 42 44 112 108 -1 51 119 85 83 -1 50 82 84 118 -1
                                      ]
                                      creaseAngle 0.2
                                    }
                                  }
                                  Shape {
                                    appearance USE MOTOR_APPEARANCE
                                    geometry IndexedFaceSet {
                                      coord USE DLegUpperLCoord
                                      coordIndex [
                                        32 36 33 -1 33 36 38 -1 35 37 34 -1 35 39 37 -1 33 38 39 -1 33 39 35 -1 32 37 36 -1 32 34 37 -1 38 36 37 -1 38 37 39 -1 32 35 34 -1 32 33 35 -1 20 22 18 -1 20 18 16 -1 17 19 23 -1 17 23 21 -1 23 27 25 -1 23 25 21 -1 19 29 28 -1 19 17 29 -1 28 27 23 -1 28 23 19 -1 21 25 29 -1 21 29 17 -1 31 24 20 -1 31 20 16 -1 18 30 31 -1 18 31 16 -1 24 26 22 -1 24 22 20 -1 22 26 30 -1 22 30 18 -1 9 5 1 -1 9 1 13 -1 7 5 9 -1 7 9 11 -1 0 15 13 -1 0 13 1 -1 0 7 11 -1 0 11 15 -1 10 6 2 -1 10 2 14 -1 3 4 8 -1 3 8 12 -1 12 2 3 -1 12 14 2 -1 8 4 6 -1 8 6 10 -1 14 12 8 -1 14 8 10 -1 11 9 13 -1 11 13 15 -1
                                      ]
                                      creaseAngle 0.2
                                    }
                                  }
                                ]
                              }
                              # LegLowerL
                              %< if (enable_backlash) { >%
                                DEF DLegLowerL HingeJointWithBacklash {
                                  gearMass 0.001
                                  backlash %<= backlash_leg_lower >%
                              %< } else { >%
                                DEF DLegLowerL HingeJoint {
                              %< } >%
                                  device [
                                    RotationalMotor {
                                      name "LegLowerL"
                                      acceleration 55
                                      maxVelocity 12.26
                                      minPosition -2.25
                                      maxPosition 0.03
                                      maxTorque 2.5
                                    }
                                    PositionSensor {
                                      name "LegLowerLS"
                                    }
                                  ]
                                  jointParameters HingeJointParameters {
                                    axis -1 0 0
                                    anchor -0 -0.093 0
                                    position -2.25
                                    dampingConstant 0.002
                                    staticFriction 0.025
                                  }
                                  endPoint Solid {
                                    translation -0 -0.093 0
                                    rotation -1 0 0 -2.25
                                    children [
                                      DEF DLegLowerLShape Shape {
                                        appearance USE PLASTIC_APPEARANCE
                                        geometry IndexedFaceSet {
                                          coord DEF DLegLowerLCoord Coordinate {
                                            point [
                                              0.0321921 -0.0784286 -0.0367578 -0.0321921 -0.0784286 -0.0367578 0.0311006 -0.0392151 -0.0368254 -0.0311006 -0.0392151 -0.0368254 0.030769 -0.0273114 -0.0213674 -0.030769 -0.0273114 -0.0213674 0.0303636 -0.0127552 -0.0089633 -0.0303636 -0.0127552 -0.0089633 0.0299594 0.0017595 -0.0015376 -0.0299594 0.0017595 -0.0015376 0.0295499 0.0164651 0.0041354 -0.0295499 0.0164651 0.0041354 0.0295497 0.0164712 0.0132623 -0.0295497 0.0164712 0.0132623 0.030808 -0.0287311 0.0093219 -0.030808 -0.0287311 0.0093219 0.0317893 -0.0639808 0.0020625 -0.0317893 -0.0639808 0.0020625 0.0321876 -0.0782881 -0.0018784 -0.0321876 -0.0782881 -0.0018784 0.0245216 -0.104273 0.0042722 -0.0245216 -0.104273 0.0042722 0.0275907 -0.0999268 0.0088045 -0.0275907 -0.0999268 0.0088045 0.0313282 -0.0910063 0.0009325 -0.0313282 -0.0910063 0.0009325 0.0320606 -0.0852879 -0.0019302 -0.0320606 -0.0852879 -0.0019302 0.0245218 -0.104273 -0.0063471 -0.0245218 -0.104273 -0.0063471 0.027591 -0.0999272 -0.0114838 -0.027591 -0.0999272 -0.0114838 0.0313286 -0.0910067 -0.0217641 -0.0313286 -0.0910067 -0.0217641 0.0320611 -0.0852883 -0.028391 -0.0320611 -0.0852883 -0.028391 0 -0.0583238 0.0271951 0 -0.0147893 0.0307726 0 0.0164661 0.0312491 0.0199838 -0.0583242 0.0271955 -0.0199838 -0.0583242 0.0271955 0.0199845 -0.0147896 0.0307729 -0.0199845 -0.0147896 0.0307729 0.019985 0.0164657 0.0312495 -0.019985 0.0164657 0.0312495 0.0218872 -0.0583242 0.0245715 -0.0218872 -0.0583242 0.0245715 0.0218868 -0.0862341 0.0205168 -0.0218868 -0.0862341 0.0205168 0.0266765 0.0164685 0.0225968 -0.0266765 0.0164685 0.0225968 0.0263508 -0.0217604 0.0218203 -0.0263508 -0.0217604 0.0218203 0.0265654 -0.0611524 0.0190446 -0.0265654 -0.0611524 0.0190446 0.0265862 -0.082261 0.0142788 -0.0265862 -0.082261 0.0142788 0.0288814 -0.0784285 -0.0367579 -0.0288814 -0.0784285 -0.0367579 0.0277899 -0.039215 -0.0368255 -0.0277899 -0.039215 -0.0368255 0.0274583 -0.0273113 -0.0213675 -0.0274583 -0.0273113 -0.0213675 0.0270529 -0.0127551 -0.0089634 -0.0270529 -0.0127551 -0.0089634 0.0266488 0.0017595 -0.0015377 -0.0266488 0.0017595 -0.0015377 0.0262392 0.0164652 0.0041353 -0.0262392 0.0164652 0.0041353 0.026239 0.0164713 0.0132622 -0.026239 0.0164713 0.0132622 0.021211 -0.104273 0.0042722 -0.021211 -0.104273 0.0042722 0.02428 -0.0999268 0.0088045 -0.02428 -0.0999268 0.0088045 0.0212111 -0.104273 -0.0063472 -0.0212111 -0.104273 -0.0063472 0.0242804 -0.0999271 -0.0114838 -0.0242804 -0.0999271 -0.0114838 0.0280179 -0.0910066 -0.0217641 -0.0280179 -0.0910066 -0.0217641 0.0287504 -0.0852883 -0.0283911 -0.0287504 -0.0852883 -0.0283911 0.0175987 -0.0583242 0.0248103 -0.0175987 -0.0583242 0.0248103 0.0175999 0.0164657 0.0288643 -0.0175999 0.0164657 0.0288643 0.0195021 -0.0583242 0.0221864 -0.0195021 -0.0583242 0.0221864 0.0195017 -0.0862341 0.0181316 -0.0195017 -0.0862341 0.0181316 0.0242914 0.0164685 0.0202117 -0.0242914 0.0164685 0.0202117 0 -0.0583239 0.0243141 0 0.016466 0.0283681
                                            ]
                                          }
                                          coordIndex [
                                            10 12 14 -1 15 13 11 -1 10 14 16 -1 17 15 11 -1 8 10 16 -1 17 11 9 -1 8 16 18 -1 19 17 9 -1 6 8 18 -1 19 9 7 -1 18 0 6 -1 7 1 19 -1 6 0 4 -1 5 1 7 -1 4 0 2 -1 3 1 5 -1 30 22 20 -1 21 23 31 -1 24 22 30 -1 31 23 25 -1 30 20 28 -1 29 21 31 -1 32 24 30 -1 31 25 33 -1 26 24 32 -1 33 25 27 -1 0 18 26 -1 27 19 1 -1 34 26 32 -1 33 27 35 -1 0 26 34 -1 35 27 1 -1 55 22 24 -1 25 23 56 -1 26 18 55 -1 56 19 27 -1 26 55 24 -1 25 56 27 -1 22 55 47 -1 48 56 23 -1 45 47 55 53 -1 56 48 46 54 -1 16 53 55 18 -1 56 54 17 19 -1 45 53 51 -1 52 54 46 -1 14 51 53 16 -1 54 52 15 17 -1 12 49 51 14 -1 52 50 13 15 -1 39 45 41 -1 42 46 40 -1 41 45 51 -1 52 46 42 -1 41 51 49 43 -1 50 52 42 44 -1 36 39 41 37 -1 42 40 36 37 -1 37 41 43 38 -1 44 42 37 38 -1 12 69 91 49 -1 92 70 13 50 -1 10 67 69 12 -1 70 68 11 13 -1 8 65 67 10 -1 68 66 9 11 -1 6 63 65 8 -1 66 64 7 9 -1 4 61 63 6 -1 64 62 5 7 -1 43 49 91 85 -1 92 50 44 86 -1 2 59 61 4 -1 62 60 3 5 -1 0 57 59 2 -1 60 58 1 3 -1 0 34 81 57 -1 82 35 1 58 -1 32 79 81 34 -1 82 80 33 35 -1 30 77 79 32 -1 80 78 31 33 -1 28 75 77 30 -1 78 76 29 31 -1 20 71 75 28 -1 76 72 21 29 -1 20 22 73 71 -1 74 23 21 72 -1 22 47 89 73 -1 90 48 23 74 -1 45 87 89 47 -1 90 88 46 48 -1 39 83 87 45 -1 88 84 40 46 -1 38 43 85 94 -1 86 44 38 94 -1 36 93 83 39 -1 84 93 36 40 -1 83 93 94 85 -1 94 93 84 86 -1 83 85 91 87 -1 92 86 84 88 -1 87 91 89 -1 90 92 88 -1 73 89 91 -1 92 90 74 -1 69 73 91 -1 92 74 70 -1 69 71 73 -1 74 72 70 -1 69 75 71 -1 72 76 70 -1 79 75 69 -1 70 76 80 -1 81 79 69 -1 70 80 82 -1 57 81 69 -1 70 82 58 -1 79 77 75 -1 76 78 80 -1 63 57 65 -1 66 58 64 -1 61 57 63 -1 64 58 62 -1 59 57 61 -1 62 58 60 -1 57 69 65 -1 66 70 58 -1 65 69 67 -1 68 70 66 -1
                                          ]
                                          creaseAngle 0.2
                                        }
                                      }
                                      # AnkleL
                                      %< if (enable_backlash) { >%
                                        DEF DAnkleL HingeJointWithBacklash {
                                          gearMass 0.001
                                          backlash %<= backlash_ankle >%
                                      %< } else { >%
                                        DEF DAnkleL HingeJoint {
                                      %< } >%
                                          device [
                                            RotationalMotor {
                                              name "AnkleL"
                                              acceleration 55
                                              maxVelocity 12.26
                                              minPosition -1.39
                                              maxPosition 1.22
                                              maxTorque 2.5
                                            }
                                            PositionSensor {
                                              name "AnkleLS"
                                            }
                                          ]
                                          jointParameters HingeJointParameters {
                                            axis 1 0 0
                                            anchor 0 -0.093 0
                                            position -1.23
                                            dampingConstant 0.002
                                            staticFriction 0.025
                                          }
                                          endPoint Solid {
                                            translation 0 -0.093 0
                                            rotation 1 0 0 -1.23
                                            children [
                                              DEF DAnkleLShape Shape {
                                                appearance USE MOTOR_APPEARANCE
                                                geometry IndexedFaceSet {
                                                  coord DEF Dcoord_AnkleL Coordinate {
                                                    point [
                                                      0.0180435 -0.0121964 0.0214744 0.0180442 -0.0122006 -0.0191612 -0.0175735 -0.0121994 -0.0191612 -0.0175742 -0.0121951 0.0214745 0.0180458 0.0384658 -0.0141346 -0.0175718 0.0384671 -0.0141346 -0.017572 0.0268712 -0.0268364 -0.0175714 0.0268675 -0.0618517 0.0180463 0.0268663 -0.0618511 0.0180457 0.0268699 -0.0268358 -0.0175731 -0.0063734 -0.0268329 -0.0175725 -0.0063771 -0.0618482 0.0180451 -0.0063783 -0.0618476 0.0180445 -0.0063747 -0.0268323 0.0180443 0.0122078 0.0214719 -0.0175733 0.012209 0.0214719 -0.0175733 0.0122086 0.0173243 0.0180444 0.0122073 0.0173243 0.0155883 0.0384659 -0.0141344 -0.0151072 0.038467 -0.0141347 -0.0151073 0.0122085 0.0173242 0.0155882 0.0122074 0.0173245 -0.0151072 0.0122079 0.0113894 0.0155883 0.0122068 0.01139 0.015589 0.0324513 0.0113879 -0.0151065 0.0324524 0.0113873 -0.0151059 0.0324492 -0.0190551 0.0155895 0.0324481 -0.0190548 0.0180457 0.032448 -0.0190548 -0.0175719 0.0324493 -0.0190552 0.0155889 0.0324519 0.0173224 0.0180451 0.0324518 0.0173222 -0.0175726 0.0324531 0.0173222 -0.0151066 0.032453 0.017322 0.0180454 0.0384685 0.0113873 0.015589 0.0384686 0.0113872 -0.0151065 0.0384696 0.0113867 -0.0175722 0.0384697 0.0113866 -0.0175719 0.0268709 -0.0296622 -0.0175714 0.0268678 -0.0590251 0.0180462 0.0268666 -0.0590245 0.0180457 0.0268697 -0.0296616 -0.0175731 -0.0063737 -0.0296588 -0.0175726 -0.0063768 -0.0590216 0.0180451 -0.006378 -0.059021 0.0180445 -0.006375 -0.0296581 -0.0125418 0.0326944 -0.0590256 -0.0125423 0.0326975 -0.0296628 0.012852 0.0326966 -0.0296623 0.0128525 0.0326935 -0.0590252 -0.0125434 -0.0122037 -0.0590209 -0.0125439 -0.0122006 -0.0296581 0.0128504 -0.0122015 -0.0296576 0.0128509 -0.0122046 -0.0590205 0.012851 -0.0122049 -0.0618471 0.0128504 -0.0122012 -0.0268318 0.0128525 0.0326932 -0.0618518 0.0128519 0.0326969 -0.0268365 -0.0125433 -0.012204 -0.0618475 -0.0125417 0.0326941 -0.0618522 -0.0125424 0.0326978 -0.026837 -0.0125439 -0.0122003 -0.0268323 -0.0097551 0.0087803 -0.0157662 -0.0097549 0.0087788 -0.0307525 -0.0097547 0.0147396 -0.0307532 -0.0097549 0.0147411 -0.0157668 0.0100627 0.0087796 -0.0157659 0.010063 0.008778 -0.0307522 0.0100632 0.0147388 -0.0307528 0.0100629 0.0147404 -0.0157665 0.0100635 0.0318247 -0.0157683 0.0100637 0.0318232 -0.0307546 0.0100635 0.0258624 -0.030754 0.0100633 0.0258639 -0.0157676 -0.0097544 0.0318255 -0.0157686 -0.0097541 0.0318239 -0.030755 -0.0097543 0.0258631 -0.0307543 -0.0097546 0.0258647 -0.015768
                                                    ]
                                                  }
                                                  coordIndex [
                                                    0 1 14 -1 15 2 3 -1 1 17 14 -1 2 15 16 -1 16 15 20 -1 21 14 17 -1 22 25 33 -1 27 24 35 -1 5 19 26 -1 4 27 18 -1 4 28 27 -1 1 27 28 -1 1 28 17 -1 5 26 29 -1 2 29 26 -1 2 16 29 -1 33 25 36 -1 35 24 30 -1 33 20 22 -1 35 18 27 -1 31 17 28 -1 37 5 29 -1 75 77 74 -1 75 76 77 -1 73 71 70 -1 73 72 71 -1 77 72 73 -1 77 76 72 -1 75 70 71 -1 75 74 70 -1 64 69 68 -1 64 65 69 -1 62 67 66 -1 62 63 67 -1 66 68 69 -1 66 67 68 -1 64 62 65 -1 64 63 62 -1 46 51 47 -1 46 50 51 -1 56 59 46 -1 56 46 49 -1 46 47 48 -1 46 48 49 -1 47 57 48 -1 47 60 57 -1 55 61 51 -1 55 51 52 -1 54 50 58 -1 54 53 50 -1 50 53 52 -1 50 52 51 -1 38 51 42 -1 38 47 51 -1 6 47 38 -1 6 60 47 -1 6 61 60 -1 6 10 61 -1 10 51 61 -1 10 42 51 -1 11 50 43 -1 11 58 50 -1 39 50 46 -1 39 43 50 -1 7 58 11 -1 7 59 58 -1 7 46 59 -1 7 39 46 -1 9 48 57 -1 9 41 48 -1 9 55 13 -1 9 57 55 -1 13 52 45 -1 13 55 52 -1 8 49 40 -1 8 56 49 -1 12 53 54 -1 12 44 53 -1 8 12 54 -1 8 54 56 -1 40 53 44 -1 40 49 53 -1 55 57 60 -1 55 60 61 -1 56 54 58 -1 56 58 59 -1 48 52 53 -1 48 53 49 -1 40 12 8 -1 40 44 12 -1 9 45 41 -1 9 13 45 -1 38 10 6 -1 38 42 10 -1 7 43 39 -1 7 11 43 -1 36 32 33 -1 36 37 32 -1 30 34 35 -1 30 31 34 -1 29 16 37 -1 37 16 32 -1 28 34 31 -1 28 4 34 -1 1 26 27 -1 1 2 26 -1 26 19 25 -1 25 19 36 -1 24 26 25 -1 24 27 26 -1 23 30 24 -1 23 21 30 -1 23 25 22 -1 23 24 25 -1 14 20 15 -1 14 21 20 -1 20 23 22 -1 20 21 23 -1 36 5 37 -1 36 19 5 -1 34 18 35 -1 34 4 18 -1 32 20 33 -1 32 16 20 -1 30 17 31 -1 30 21 17 -1 3 0 14 -1 14 15 3 -1 0 2 1 -1 0 3 2 -1 41 45 52 48 -1
                                                  ]
                                                  creaseAngle 0.2
                                                }
                                              }
                                              # FootL
                                              %< if (enable_backlash) { >%
                                                DEF DFootL HingeJointWithBacklash {
                                                  gearMass 0.001
                                                  backlash %<= backlash_foot >%
                                              %< } else { >%
                                                DEF DFootL HingeJoint {
                                              %< } >%
                                                  device [
                                                    RotationalMotor {
                                                      name "FootL"
                                                      acceleration 55
                                                      maxVelocity 12.26
                                                      minPosition -1.02
                                                      maxPosition 0.6
                                                      maxTorque 2.5
                                                    }
                                                    PositionSensor {
                                                      name "FootLS"
                                                    }
                                                  ]
                                                  jointParameters HingeJointParameters {
                                                    axis 0 0 1
                                                    position -0.02
                                                    dampingConstant 0.002
                                                    staticFriction 0.025
                                                  }
                                                  endPoint Solid {
                                                    rotation 0 0 1 -0.02
                                                    children [
                                                      DEF LEFT_FOOT_SLOT Group {
                                                        children IS leftFootSlot
                                                      }
                                                      DEF DFootLShape Group {
                                                        children [
                                                          Shape {
                                                            appearance USE PLASTIC_APPEARANCE
                                                            geometry IndexedFaceSet {
                                                              coord DEF DFootLCoord Coordinate {
                                                                point [
                                                                  -0.0087402 0.0067738 0.0246943 -0.0087402 -0.0101185 0.0246961 -0.0002941 -0.0136169 0.024697 0.008152 -0.0101184 0.0246972 0.0116505 -0.0016379 0.0246966 0.008152 0.0067738 0.0246955 -0.0002941 0.0102723 0.0246945 -0.0087401 0.0067735 0.0225305 -0.0122386 -0.0016381 0.0225311 -0.0087401 -0.0101187 0.0225322 -0.000294 -0.0136172 0.0225332 0.0081521 -0.0101187 0.0225334 0.0116506 -0.0016381 0.0225328 0.0081521 0.0067735 0.0225316 -0.000294 0.010272 0.0225307 -0.0002906 0.010267 -0.0258945 0.0081555 0.0067685 -0.0258936 0.011654 -0.0016432 -0.0258925 0.0081555 -0.0101237 -0.0258918 -0.0002906 -0.0136222 -0.025892 -0.0087367 -0.0101237 -0.025893 -0.0122352 -0.0016432 -0.0258941 -0.0087367 0.0067685 -0.0258948 -0.0002907 0.0102672 -0.0238477 0.0081554 0.0067687 -0.0238467 0.0116539 -0.001643 -0.0238456 0.0081554 -0.0101235 -0.0238449 -0.0002907 -0.013622 -0.0238452 -0.0087369 -0.0101235 -0.0238461 -0.0087369 0.0067687 -0.0238479 0.0105403 -0.0309114 0.0262598 0.0105438 -0.0309167 -0.0238425 -0.0112658 -0.0309114 0.0262583 -0.0112623 -0.0309167 -0.023844 -0.0112624 -0.0295248 -0.0223178 -0.0112657 -0.0295198 0.024698 0.0105404 -0.0295198 0.0246995 0.0105437 -0.0295248 -0.0223163 0.0105436 -0.0016428 -0.0223194 0.0105404 -0.0016379 0.0246965 -0.0112658 -0.0016379 0.024695 -0.0112625 -0.0016428 -0.0223209 -0.0112624 -0.001643 -0.0238472 -0.0112659 -0.0016377 0.0262551 0.0105403 -0.0016377 0.0262567 0.0105437 -0.001643 -0.0238457 -0.003267 0.0013025 -0.0264138 -0.0044998 -0.0016546 -0.0264136 -0.003267 -0.0046503 -0.0264132 -0.0002906 -0.0058831 -0.0264128 0.0026858 -0.0046503 -0.0264128 0.0039187 -0.0016546 -0.026413 0.0026858 0.0013025 -0.0264134 -0.0002906 0.0025354 -0.0264137 -0.0002943 0.0025409 0.0266983 0.0026821 0.0013081 0.0266986 0.003915 -0.0016491 0.026699 0.0026821 -0.0046447 0.0266992 -0.0002943 -0.0058776 0.0266991 -0.0032707 -0.0046447 0.0266988 -0.0045035 -0.0016491 0.0266984 -0.0032707 0.0013081 0.0266982 -0.0221594 -0.0182954 -0.0532328 0.0440031 -0.0182966 -0.0532305 0.0440028 -0.0335107 -0.0532297 -0.0221597 -0.0335494 -0.053232 -0.0145455 -0.0335441 0.0507272 0.0376511 -0.0335051 0.0503662 0.0376513 -0.0238991 0.0503657 -0.0145454 -0.0238982 0.0507267 -0.022162 -0.0182915 0.0211815 0.0440005 -0.0182927 0.0211838 -0.0075757 -0.0335441 0.0521784 0.0298263 -0.0335448 0.0521797 0.0298265 -0.0238989 0.0521792 -0.0075755 -0.0238982 0.0521779 -0.0221629 -0.0226602 0.0447686 0.0439996 -0.0226613 0.0447709 -0.0221631 -0.0335044 0.0447691 0.0439994 -0.0335055 0.0447714
                                                                ]
                                                              }
                                                              coordIndex [
                                                                76 70 66 -1 71 77 67 -1 70 76 75 -1 76 69 75 -1 68 77 74 -1 77 71 74 -1 67 73 79 -1 64 79 73 -1 64 77 79 -1 63 77 64 -1 63 71 77 -1 62 76 70 -1 65 72 78 -1 66 78 72 -1 62 65 76 -1 65 78 76 -1 66 69 78 -1 69 76 78 -1 67 79 68 -1 79 77 68 -1 75 74 71 -1 75 71 70 -1 75 69 66 -1 75 66 72 -1 74 75 72 -1 74 72 73 -1 68 74 67 -1 74 73 67 -1 73 72 64 -1 72 65 64 -1 62 70 71 -1 62 71 63 -1 62 63 64 -1 62 64 65 -1
                                                              ]
                                                              creaseAngle 0.2
                                                            }
                                                          }
                                                          Shape {
                                                            appearance USE METAL_APPEARANCE
                                                            geometry IndexedFaceSet {
                                                              coord USE DFootLCoord
                                                              coordIndex [
                                                                1 2 3 -1 40 1 3 -1 40 3 4 -1 0 40 4 -1 0 4 5 -1 0 5 6 -1 9 11 10 -1 9 12 11 -1 8 12 9 -1 7 12 8 -1 7 13 12 -1 14 13 7 -1 28 27 26 -1 42 28 26 -1 42 26 25 -1 29 42 25 -1 29 25 24 -1 29 24 23 -1 20 18 19 -1 20 17 18 -1 21 17 20 -1 22 17 21 -1 22 16 17 -1 15 16 22 -1 53 52 46 -1 46 52 51 -1 46 51 47 -1 47 51 48 -1 48 51 50 -1 48 50 49 -1 55 54 61 -1 55 61 56 -1 56 61 60 -1 56 60 59 -1 56 59 57 -1 57 59 58 -1 47 61 46 -1 47 60 61 -1 48 60 47 -1 48 59 60 -1 49 59 48 -1 49 58 59 -1 50 58 49 -1 50 57 58 -1 51 57 50 -1 51 56 57 -1 52 56 51 -1 52 55 56 -1 53 55 52 -1 53 54 55 -1 46 54 53 -1 46 61 54 -1 38 34 37 -1 38 41 34 -1 36 40 39 -1 36 35 40 -1 42 38 45 -1 42 41 38 -1 44 40 43 -1 44 39 40 -1 33 45 31 -1 33 42 45 -1 30 43 32 -1 30 44 43 -1 34 42 33 -1 34 41 42 -1 32 43 35 -1 35 43 40 -1 36 44 30 -1 36 39 44 -1 31 45 37 -1 37 45 38 -1 29 22 21 -1 29 21 42 -1 42 21 20 -1 42 20 28 -1 28 20 19 -1 28 19 27 -1 27 19 18 -1 27 18 26 -1 26 18 17 -1 26 17 25 -1 25 17 16 -1 25 16 24 -1 24 16 15 -1 24 15 23 -1 23 15 22 -1 23 22 29 -1 7 0 6 -1 7 6 14 -1 5 13 14 -1 5 14 6 -1 4 12 13 -1 4 13 5 -1 3 11 12 -1 3 12 4 -1 2 10 11 -1 2 11 3 -1 1 9 10 -1 1 10 2 -1 40 8 9 -1 40 9 1 -1 0 7 8 -1 0 8 40 -1
                                                              ]
                                                              creaseAngle 0.2
                                                            }
                                                          }
                                                        ]
                                                      }
                                                    ]
                                                    boundingObject Pose {
                                                      translation 0.011 -0.027 -0.001
                                                      children [
                                                        Box {
                                                          size 0.066 0.013 0.105
                                                        }
                                                      ]
                                                    }
                                                    physics Physics {
                                                      density -1
                                                      mass 0.0794462
                                                      centerOfMass [
                                                        0.00950588 -0.0259953 -0.000502877
                                                      ]
                                                      inertiaMatrix [
                                                        6.8325629e-05 8.7890505e-05 3.5840758e-05 2.5330463e-06 2.1869558e-07 9.7620541e-07
                                                      ]
                                                    }
                                                  }
                                                }
                                            ]
                                            boundingObject Pose {
                                              translation 0 0.01 -0.0205
                                              children [
                                                Box {
                                                  size 0.036 0.045 0.083
                                                }
                                              ]
                                            }
                                            physics Physics {
                                              density -1
                                              mass 0.167108
                                              centerOfMass [
                                                -0.000213732 0.0138731 -0.0185361
                                              ]
                                              inertiaMatrix [
                                                1.2079175e-04 1.0885465e-04 4.1871103e-05 -7.9781067e-07 -3.9322246e-07 7.0770117e-06
                                              ]
                                            }
                                          }
                                        }
                                    ]
                                    boundingObject Group {
                                      children [
                                        Pose {
                                          translation 0 -0.058 -0.001
                                          children [
                                            Box {
                                              size 0.064 0.034 0.041
                                            }
                                          ]
                                        }
                                        Pose {
                                          translation 0 -0.02 0.016
                                          rotation 1 0 0 0.04
                                          children [
                                            Box {
                                              size 0.062 0.073 0.027
                                            }
                                          ]
                                        }
                                      ]
                                    }
                                    physics Physics {
                                      density -1
                                      mass 0.0703098
                                      centerOfMass [
                                        -0.000592469 -0.0539545 0.00654763
                                      ]
                                      inertiaMatrix [
                                        9.3369608e-05 4.6295534e-05 1.1351516e-04 -9.3567395e-07 -2.3992085e-07 -1.2858493e-05
                                      ]
                                    }
                                  }
                                }
                            ]
                            boundingObject Pose {
                              translation 0 -0.058 0.006
                              children [
                                Box {
                                  size 0.053 0.035 0.042
                                }
                              ]
                            }
                            physics Physics {
                              density -1
                              mass 0.119043
                              centerOfMass [
                                -0.000322635 -0.0629655 0.000691906
                              ]
                              inertiaMatrix [
                                9.7950272e-05 3.2848287e-05 1.1493509e-04 1.2119368e-06 -2.1223016e-07 -1.9474021e-06
                              ]
                            }
                          }
                        }
                    ]
                    boundingObject Pose {
                      translation 0 -0.0105 -0.023
                      children [
                        Box {
                          size 0.036 0.043 0.077
                        }
                      ]
                    }
                    physics Physics {
                      density -1
                      mass 0.167108
                      centerOfMass [
                        7.99828e-05 -0.0138731 -0.0182424
                      ]
                      inertiaMatrix [
                        1.2259691e-04 1.1066637e-04 4.1877668e-05 7.1127469e-07 8.1143913e-07 -7.1635476e-06
                      ]
                    }
                  }
                }
            ]
            name "pelvYL"
            boundingObject Pose {
              translation 0 0.017 0.001
              children [
                Box {
                  size 0.022 0.028 0.05
                }
              ]
            }
            physics Physics {
              density -1
              mass 0.0270692
              centerOfMass [
                0.00048 -0.0 0.01844
              ]
              inertiaMatrix [
                1.5019148e-05 1.1328768e-05 6.1825529e-06 0.0000000e+00 0.0000000e+00 -7.3350016e-07
              ]
            }
          }
        }
      # PelvYR
      %< if (enable_backlash) { >%
        DEF DPelvYR HingeJointWithBacklash {
          gearMass 0.001
          backlash %<= backlash_pelv_y >%
      %< } else { >%
        DEF DPelvYR HingeJoint {
      %< } >%
          device [
            RotationalMotor {
              name "PelvYR"
              acceleration 55
              maxVelocity 12.26
              minPosition -2.42
              maxPosition 0.66
              maxTorque 2.5
            }
            PositionSensor {
              name "PelvYRS"
            }
          ]
          jointParameters HingeJointParameters {
            axis 0 0 -1
            anchor -0.005 -0.037 -0.1222
            position -0.01
            dampingConstant 0.002
            staticFriction 0.025
          }
          endPoint Solid {
            translation -0.005 -0.037 -0.122
            rotation 0.5735 0.5793 0.5793 2.1002
            children [
              DEF DPelvYRShape Shape {
                appearance USE METAL_APPEARANCE
                geometry IndexedFaceSet {
                  coord Coordinate {
                    point [
                      -0.008447 -0.0084461 0.0247275 -0.008447 0.0084461 0.0247275 -9e-07 0.0119446 0.0247278 0.0084452 0.0084461 0.0247281 0.0119437 -3.45e-05 0.0247282 0.0084452 -0.0084461 0.0247281 -9e-07 -0.0119446 0.0247278 -0.0084469 -0.0084461 0.0225637 -0.0119454 -3.45e-05 0.0225636 -0.0084469 0.0084461 0.0225637 -8e-07 0.0119446 0.022564 0.0084453 0.0084461 0.0225643 0.0119438 -3.45e-05 0.0225644 0.0084453 -0.0084461 0.0225643 -8e-07 -0.0119446 0.022564 9e-07 -0.0119446 -0.0258612 0.008447 -0.0084461 -0.0258609 0.0119455 -3.45e-05 -0.0258608 0.008447 0.0084461 -0.0258609 9e-07 0.0119446 -0.0258612 -0.0084452 0.0084461 -0.0258615 -0.0119437 -3.45e-05 -0.0258616 -0.0084452 -0.0084461 -0.0258615 8e-07 -0.0119446 -0.0238143 0.0084469 -0.0084461 -0.0238141 0.0119454 -3.45e-05 -0.0238139 0.0084469 0.0084461 -0.0238141 8e-07 0.0119446 -0.0238143 -0.0084453 0.0084461 -0.0238146 -0.0084453 -0.0084461 -0.0238146 0.0108336 0.0313981 0.0262884 0.0108353 0.0313981 -0.023814 -0.0109726 0.0313981 0.0262876 -0.0109708 0.0313981 -0.0238147 -0.0109709 0.0300063 -0.0222884 -0.0109725 0.0300063 0.0247274 0.0108336 0.0300063 0.0247282 0.0108353 0.0300063 -0.0222877 0.0108353 -3.45e-05 -0.0222877 0.0108336 -3.45e-05 0.0247282 -0.0109725 -3.45e-05 0.0247274 -0.0109709 -3.45e-05 -0.0222884 -0.0109708 -3.45e-05 -0.0238147 -0.0109726 -3.45e-05 0.0262876 0.0108336 -3.45e-05 0.0262884 0.0108353 -3.45e-05 -0.023814 3e-07 0.0332829 -0.010382 0.0073414 0.0332829 -0.0073409 0.010382 0.0332829 4e-07 0.0073409 0.0332829 0.0073414 -4e-07 0.0332829 0.010382 -0.0073414 0.0332829 0.0073409 -0.010382 0.0332829 -4e-07 -0.0073409 0.0332829 -0.0073414 4e-07 0.0313981 -0.010382 0.0073414 0.0313981 -0.0073409 0.010382 0.0313981 4e-07 0.0073409 0.0313981 0.0073414 -4e-07 0.0313981 0.010382 -0.0073414 0.0313981 0.0073409 -0.010382 0.0313981 -4e-07 -0.0073409 0.0313981 -0.0073414 -0.0029755 -0.0029802 -0.0263813 -0.0042083 -2.31e-05 -0.0263814 -0.0029755 0.0029726 -0.0263813 9e-07 0.0042054 -0.0263812 0.0029773 0.0029726 -0.0263811 0.0042102 -2.31e-05 -0.0263811 0.0029773 -0.0029802 -0.0263811 9e-07 -0.0042131 -0.0263812 -9e-07 -0.0042131 0.0267308 0.0029755 -0.0029802 0.0267309 0.0042083 -2.31e-05 0.0267309 0.0029755 0.0029726 0.0267309 -9e-07 0.0042054 0.0267308 -0.0029773 0.0029726 0.0267307 -0.0042102 -2.31e-05 0.0267306 -0.0029773 -0.0029802 0.0267307
                    ]
                  }
                  coordIndex [
                    1 3 2 -1 40 3 1 -1 40 4 3 -1 0 4 40 -1 0 5 4 -1 0 6 5 -1 9 10 11 -1 9 11 12 -1 8 9 12 -1 7 8 12 -1 7 12 13 -1 14 7 13 -1 46 53 47 -1 53 48 47 -1 53 52 48 -1 52 51 48 -1 51 49 48 -1 51 50 49 -1 28 26 27 -1 42 26 28 -1 42 25 26 -1 29 25 42 -1 29 24 25 -1 29 23 24 -1 20 19 18 -1 20 18 17 -1 21 20 17 -1 22 21 17 -1 22 17 16 -1 15 22 16 -1 69 62 68 -1 62 67 68 -1 62 63 67 -1 63 64 67 -1 64 66 67 -1 64 65 66 -1 71 77 70 -1 71 72 77 -1 72 76 77 -1 72 75 76 -1 72 73 75 -1 73 74 75 -1 63 62 77 -1 63 77 76 -1 64 63 76 -1 64 76 75 -1 65 64 75 -1 65 75 74 -1 66 65 74 -1 66 74 73 -1 67 66 73 -1 67 73 72 -1 68 67 72 -1 68 72 71 -1 69 68 71 -1 69 71 70 -1 62 69 70 -1 62 70 77 -1 61 52 53 -1 61 60 52 -1 60 51 52 -1 60 59 51 -1 59 50 51 -1 59 58 50 -1 58 49 50 -1 58 57 49 -1 57 48 49 -1 57 56 48 -1 56 47 48 -1 56 55 47 -1 55 46 47 -1 55 54 46 -1 53 54 61 -1 53 46 54 -1 38 37 34 -1 38 34 41 -1 36 39 40 -1 36 40 35 -1 34 37 36 -1 34 36 35 -1 42 45 38 -1 42 38 41 -1 44 43 40 -1 44 40 39 -1 33 31 45 -1 33 45 42 -1 30 32 43 -1 30 43 44 -1 34 33 42 -1 34 42 41 -1 32 35 43 -1 35 40 43 -1 36 30 44 -1 36 44 39 -1 31 37 45 -1 37 38 45 -1 30 36 31 -1 36 37 31 -1 33 34 35 -1 33 35 32 -1 30 31 33 -1 30 33 32 -1 29 21 22 -1 29 42 21 -1 42 20 21 -1 42 28 20 -1 28 19 20 -1 28 27 19 -1 27 18 19 -1 27 26 18 -1 26 17 18 -1 26 25 17 -1 25 16 17 -1 25 24 16 -1 24 15 16 -1 24 23 15 -1 23 22 15 -1 23 29 22 -1 6 0 7 -1 7 14 6 -1 5 14 13 -1 5 6 14 -1 4 13 12 -1 4 5 13 -1 3 12 11 -1 3 4 12 -1 2 11 10 -1 2 3 11 -1 1 10 9 -1 1 2 10 -1 40 9 8 -1 40 1 9 -1 0 8 7 -1 0 40 8 -1
                  ]
                  creaseAngle 0.2
                }
              }
              # PelvR
              %< if (enable_backlash) { >%
                DEF DPelvR HingeJointWithBacklash {
                  gearMass 0.001
                  backlash %<= backlash_pelv >%
              %< } else { >%
                DEF DPelvR HingeJoint {
              %< } >%
                  device [
                    RotationalMotor {
                      name "PelvR"
                      acceleration 55
                      maxVelocity 12.26
                      minPosition -1.01
                      maxPosition 1.01
                      maxTorque 2.5
                    }
                    PositionSensor {
                      name "PelvRS"
                    }
                  ]
                  jointParameters HingeJointParameters {
                    axis 0 0 -1
                    position 0.02
                    dampingConstant 0.002
                    staticFriction 0.025
                  }
                  endPoint Solid {
                    rotation 0 0 -1 0.02
                    children [
                      DEF DPelvRShape Shape {
                        appearance USE MOTOR_APPEARANCE
                        geometry IndexedFaceSet {
                          coord Coordinate {
                            point [
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                            ]
                          }
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                          ]
                          creaseAngle 0.2
                        }
                      }
                      # LegUpperR
                      %< if (enable_backlash) { >%
                        DEF DLegUpperR HingeJointWithBacklash {
                          gearMass 0.001
                          backlash %<= backlash_leg_upper >%
                      %< } else { >%
                        DEF DLegUpperR HingeJoint {
                      %< } >%
                          device [
                            RotationalMotor {
                              name "LegUpperR"
                              acceleration 55
                              maxVelocity 12.26
                              minPosition -1.77
                              maxPosition 0.45
                              maxTorque 2.5
                            }
                            PositionSensor {
                              name "LegUpperRS"
                            }
                          ]
                          jointParameters HingeJointParameters {
                            axis 1 0 0
                            position -1.15
                            dampingConstant 0.002
                            staticFriction 0.025
                          }
                          endPoint Solid {
                            rotation 1 0 0 -1.15
                            children [
                              DEF DLegUpperRShape Group {
                                children [
                                  Shape {
                                    appearance USE PLASTIC_APPEARANCE
                                    geometry IndexedFaceSet {
                                      coord DEF DLegUpperRCoord Coordinate {
                                        point [
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                                        ]
                                      }
                                      coordIndex [
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                                      ]
                                      creaseAngle 0.2
                                    }
                                  }
                                  Shape {
                                    appearance USE MOTOR_APPEARANCE
                                    geometry IndexedFaceSet {
                                      coord USE DLegUpperRCoord
                                      coordIndex [
                                        32 33 36 -1 33 38 36 -1 35 34 37 -1 35 37 39 -1 33 39 38 -1 33 35 39 -1 32 36 37 -1 32 37 34 -1 38 37 36 -1 38 39 37 -1 32 34 35 -1 32 35 33 -1 20 18 22 -1 20 16 18 -1 17 23 19 -1 17 21 23 -1 23 25 27 -1 23 21 25 -1 19 28 29 -1 19 29 17 -1 28 23 27 -1 28 19 23 -1 21 29 25 -1 21 17 29 -1 31 20 24 -1 31 16 20 -1 18 31 30 -1 18 16 31 -1 24 22 26 -1 24 20 22 -1 22 30 26 -1 22 18 30 -1 9 1 5 -1 9 13 1 -1 7 9 5 -1 7 11 9 -1 0 13 15 -1 0 1 13 -1 0 11 7 -1 0 15 11 -1 10 2 6 -1 10 14 2 -1 3 8 4 -1 3 12 8 -1 12 3 2 -1 12 2 14 -1 8 6 4 -1 8 10 6 -1 14 8 12 -1 14 10 8 -1 11 13 9 -1 11 15 13 -1
                                      ]
                                      creaseAngle 0.2
                                    }
                                  }
                                ]
                              }
                              # LegLowerR
                              %< if (enable_backlash) { >%
                                DEF DLegLowerR HingeJointWithBacklash {
                                  gearMass 0.001
                                  backlash %<= backlash_leg_lower >%
                              %< } else { >%
                                DEF DLegLowerR HingeJoint {
                              %< } >%
                                  device [
                                    RotationalMotor {
                                      name "LegLowerR"
                                      acceleration 55
                                      maxVelocity 12.26
                                      minPosition -0.02
                                      maxPosition 2.25
                                      maxTorque 2.5
                                    }
                                    PositionSensor {
                                      name "LegLowerRS"
                                    }
                                  ]
                                  jointParameters HingeJointParameters {
                                    axis 1 0 0
                                    anchor -0 -0.093 0
                                    position 2.25
                                    dampingConstant 0.002
                                    staticFriction 0.025
                                  }
                                  endPoint Solid {
                                    translation -0 -0.093 0
                                    rotation 1 0 0 2.25
                                    children [
                                      DEF DLegLowerRShape Shape {
                                        appearance USE PLASTIC_APPEARANCE
                                        geometry IndexedFaceSet {
                                          coord Coordinate {
                                            point [
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                                            ]
                                          }
                                          coordIndex [
                                            10 14 12 -1 15 11 13 -1 10 16 14 -1 17 11 15 -1 8 16 10 -1 17 9 11 -1 8 18 16 -1 19 9 17 -1 6 18 8 -1 19 7 9 -1 6 0 18 -1 7 19 1 -1 4 0 6 -1 5 7 1 -1 2 0 4 -1 3 5 1 -1 30 20 22 -1 21 31 23 -1 24 30 22 -1 31 25 23 -1 30 28 20 -1 29 31 21 -1 32 30 24 -1 31 33 25 -1 26 32 24 -1 33 27 25 -1 0 26 18 -1 27 1 19 -1 34 32 26 -1 33 35 27 -1 0 34 26 -1 35 1 27 -1 55 24 22 -1 25 56 23 -1 26 55 18 -1 56 27 19 -1 26 24 55 -1 25 27 56 -1 22 47 55 -1 48 23 56 -1 45 53 55 47 -1 56 54 46 48 -1 16 18 55 53 -1 56 19 17 54 -1 45 51 53 -1 52 46 54 -1 14 16 53 51 -1 54 17 15 52 -1 12 14 51 49 -1 52 15 13 50 -1 39 41 45 -1 42 40 46 -1 41 51 45 -1 52 42 46 -1 41 43 49 51 -1 50 44 42 52 -1 36 37 41 39 -1 42 37 36 40 -1 37 38 43 41 -1 44 38 37 42 -1 12 49 91 69 -1 92 50 13 70 -1 10 12 69 67 -1 70 13 11 68 -1 8 10 67 65 -1 68 11 9 66 -1 6 8 65 63 -1 66 9 7 64 -1 4 6 63 61 -1 64 7 5 62 -1 43 85 91 49 -1 92 86 44 50 -1 2 4 61 59 -1 62 5 3 60 -1 0 2 59 57 -1 60 3 1 58 -1 0 57 81 34 -1 82 58 1 35 -1 32 34 81 79 -1 82 35 33 80 -1 30 32 79 77 -1 80 33 31 78 -1 28 30 77 75 -1 78 31 29 76 -1 20 28 75 71 -1 76 29 21 72 -1 20 71 73 22 -1 74 72 21 23 -1 22 73 89 47 -1 90 74 23 48 -1 45 47 89 87 -1 90 48 46 88 -1 39 45 87 83 -1 88 46 40 84 -1 38 94 85 43 -1 86 94 38 44 -1 36 39 83 93 -1 84 40 36 93 -1 83 85 94 93 -1 94 86 84 93 -1 83 87 91 85 -1 92 88 84 86 -1 87 89 91 -1 90 88 92 -1 73 91 89 -1 92 74 90 -1 69 91 73 -1 92 70 74 -1 69 73 71 -1 74 70 72 -1 69 71 75 -1 72 70 76 -1 79 69 75 -1 70 80 76 -1 81 69 79 -1 70 82 80 -1 57 69 81 -1 70 58 82 -1 79 75 77 -1 76 80 78 -1 63 65 57 -1 66 64 58 -1 61 63 57 -1 64 62 58 -1 59 61 57 -1 62 60 58 -1 57 65 69 -1 66 58 70 -1 65 67 69 -1 68 66 70 -1
                                          ]
                                          creaseAngle 0.2
                                        }
                                      }
                                      # AnkleR
                                      %< if (enable_backlash) { >%
                                        DEF DAnkleR HingeJointWithBacklash {
                                          gearMass 0.001
                                          backlash %<= backlash_ankle >%
                                      %< } else { >%
                                        DEF DAnkleR HingeJoint {
                                      %< } >%
                                          device [
                                            RotationalMotor {
                                              name "AnkleR"
                                              acceleration 55
                                              maxVelocity 12.26
                                              minPosition -1.24
                                              maxPosition 1.38
                                              maxTorque 2.5
                                            }
                                            PositionSensor {
                                              name "AnkleRS"
                                            }
                                          ]
                                          jointParameters HingeJointParameters {
                                            axis -1 0 0
                                            anchor 0 -0.093 0
                                            position 1.22
                                            dampingConstant 0.002
                                            staticFriction 0.025
                                          }
                                          endPoint Solid {
                                            translation 0 -0.093 0
                                            rotation -1 0 0 1.22
                                            children [
                                              DEF DAnkleRShape Shape {
                                                appearance USE MOTOR_APPEARANCE
                                                geometry IndexedFaceSet {
                                                  coord Coordinate {
                                                    point [
                                                      -0.0180496 -0.0121957 0.0214751 -0.0180517 -0.0122 -0.0191605 0.0175659 -0.0122 -0.0191618 0.017568 -0.0121957 0.0214738 -0.0180515 0.0384664 -0.014134 0.0175662 0.0384664 -0.0141352 0.0175655 0.0268706 -0.026837 0.0175637 0.0268669 -0.0618523 -0.018054 0.0268669 -0.0618505 -0.0180521 0.0268706 -0.0268352 0.0175655 -0.006374 -0.0268336 0.0175637 -0.0063777 -0.0618488 -0.018054 -0.0063777 -0.061847 -0.0180521 -0.006374 -0.0268317 -0.0180496 0.0122084 0.0214725 0.017568 0.0122084 0.0214713 0.0175678 0.012208 0.0173237 -0.0180498 0.0122079 0.017325 -0.0155939 0.0384664 -0.0141339 0.0151016 0.0384664 -0.0141353 0.0151018 0.012208 0.0173236 -0.0155936 0.0122079 0.017325 0.0151015 0.0122073 0.0113889 -0.0155939 0.0122073 0.0113905 -0.0155939 0.0324518 0.0113884 0.0151015 0.0324518 0.0113868 0.0150999 0.0324486 -0.0190557 -0.0155955 0.0324487 -0.0190543 -0.0180517 0.0324486 -0.0190541 0.0175659 0.0324486 -0.0190558 -0.0155936 0.0324524 0.0173229 -0.0180498 0.0324524 0.0173228 0.0175678 0.0324525 0.0173216 0.0151018 0.0324525 0.0173215 -0.0180501 0.0384691 0.0113879 -0.0155937 0.0384691 0.0113878 0.0151018 0.0384691 0.0113862 0.0175675 0.0384691 0.011386 0.0175653 0.0268703 -0.0296628 0.0175638 0.0268672 -0.0590257 -0.0180538 0.0268672 -0.0590239 -0.0180523 0.0268703 -0.029661 0.0175653 -0.0063743 -0.0296594 0.0175638 -0.0063774 -0.0590223 -0.0180538 -0.0063774 -0.0590204 -0.0180523 -0.0063743 -0.0296575 0.0125344 0.032694 -0.0590261 0.0125359 0.032697 -0.0296632 -0.0128584 0.032697 -0.0296619 -0.0128599 0.0326939 -0.0590248 0.0125344 -0.0122042 -0.0590214 0.0125359 -0.0122011 -0.0296585 -0.0128584 -0.0122011 -0.0296572 -0.0128599 -0.0122042 -0.05902 -0.01286 -0.0122045 -0.0618466 -0.0128582 -0.0122008 -0.0268314 -0.01286 0.0326937 -0.0618513 -0.0128582 0.0326973 -0.0268361 0.0125342 -0.0122044 -0.061848 0.0125342 0.0326937 -0.0618527 0.0125361 0.0326973 -0.0268374 0.0125361 -0.0122008 -0.0268327 0.0097484 0.00878 -0.0157665 0.0097476 0.0087784 -0.0307529 0.0097476 0.0147392 -0.0307535 0.0097484 0.0147408 -0.0157672 -0.0100694 0.0087799 -0.0157655 -0.0100702 0.0087784 -0.0307519 -0.0100702 0.0147392 -0.0307525 -0.0100694 0.0147407 -0.0157661 -0.0100694 0.0318251 -0.0157679 -0.0100702 0.0318235 -0.0307543 -0.0100702 0.0258627 -0.0307536 -0.0100694 0.0258643 -0.0157673 0.0097485 0.0318251 -0.0157689 0.0097477 0.0318236 -0.0307553 0.0097477 0.0258628 -0.0307547 0.0097484 0.0258644 -0.0157683
                                                    ]
                                                  }
                                                  coordIndex [
                                                    0 14 1 -1 15 3 2 -1 1 14 17 -1 2 16 15 -1 16 20 15 -1 21 17 14 -1 22 33 25 -1 27 35 24 -1 5 26 19 -1 4 18 27 -1 4 27 28 -1 1 28 27 -1 1 17 28 -1 5 29 26 -1 2 26 29 -1 2 29 16 -1 33 36 25 -1 35 30 24 -1 33 22 20 -1 35 27 18 -1 31 28 17 -1 37 29 5 -1 75 74 77 -1 75 77 76 -1 73 70 71 -1 73 71 72 -1 77 73 72 -1 77 72 76 -1 75 71 70 -1 75 70 74 -1 64 68 69 -1 64 69 65 -1 62 66 67 -1 62 67 63 -1 66 69 68 -1 66 68 67 -1 64 65 62 -1 64 62 63 -1 46 47 51 -1 46 51 50 -1 56 46 59 -1 56 49 46 -1 46 48 47 -1 46 49 48 -1 47 48 57 -1 47 57 60 -1 55 51 61 -1 55 52 51 -1 54 58 50 -1 54 50 53 -1 50 52 53 -1 50 51 52 -1 38 42 51 -1 38 51 47 -1 6 38 47 -1 6 47 60 -1 6 60 61 -1 6 61 10 -1 10 61 51 -1 10 51 42 -1 11 43 50 -1 11 50 58 -1 39 46 50 -1 39 50 43 -1 7 11 58 -1 7 58 59 -1 7 59 46 -1 7 46 39 -1 9 57 48 -1 9 48 41 -1 9 13 55 -1 9 55 57 -1 13 45 52 -1 13 52 55 -1 8 40 49 -1 8 49 56 -1 12 54 53 -1 12 53 44 -1 8 54 12 -1 8 56 54 -1 40 44 53 -1 40 53 49 -1 55 60 57 -1 55 61 60 -1 56 58 54 -1 56 59 58 -1 48 53 52 -1 48 49 53 -1 40 8 12 -1 40 12 44 -1 9 41 45 -1 9 45 13 -1 38 6 10 -1 38 10 42 -1 7 39 43 -1 7 43 11 -1 36 33 32 -1 36 32 37 -1 30 35 34 -1 30 34 31 -1 29 37 16 -1 37 32 16 -1 28 31 34 -1 28 34 4 -1 1 27 26 -1 1 26 2 -1 26 25 19 -1 25 36 19 -1 24 25 26 -1 24 26 27 -1 23 24 30 -1 23 30 21 -1 23 22 25 -1 23 25 24 -1 14 15 20 -1 14 20 21 -1 20 22 23 -1 20 23 21 -1 36 37 5 -1 36 5 19 -1 34 35 18 -1 34 18 4 -1 32 33 20 -1 32 20 16 -1 30 31 17 -1 30 17 21 -1 14 0 3 -1 14 3 15 -1 0 1 2 -1 0 2 3 -1 41 48 52 45 -1
                                                  ]
                                                  creaseAngle 0.2
                                                }
                                              }
                                              # FootR
                                              %< if (enable_backlash) { >%
                                                DEF DFootR HingeJointWithBacklash {
                                                  gearMass 0.001
                                                  backlash %<= backlash_foot >%
                                              %< } else { >%
                                                DEF DFootR HingeJoint {
                                              %< } >%
                                                  device [
                                                    RotationalMotor {
                                                      name "FootR"
                                                      acceleration 55
                                                      maxVelocity 12.26
                                                      minPosition -0.68
                                                      maxPosition 1.04
                                                      maxTorque 2.5
                                                    }
                                                    PositionSensor {
                                                      name "FootRS"
                                                    }
                                                  ]
                                                  jointParameters HingeJointParameters {
                                                    axis 0 0 1
                                                    position 0.05
                                                    dampingConstant 0.002
                                                    staticFriction 0.025
                                                  }
                                                  endPoint Solid {
                                                    rotation 0 0 1 0.05
                                                    children [
                                                      DEF RIGHT_FOOT_SLOT Group {
                                                        children IS rightFootSlot
                                                      }
                                                      DEF DFootRShape Group {
                                                        children [
                                                          Shape {
                                                            appearance USE PLASTIC_APPEARANCE
                                                            geometry IndexedFaceSet {
                                                              coord DEF DFootRCoord Coordinate {
                                                                point [
                                                                  0.0087351 0.0067732 0.024694 0.0087339 -0.0101191 0.0246957 0.0002876 -0.013617 0.024697 -0.0081583 -0.0101179 0.0246975 -0.0116562 -0.0016371 0.024697 -0.0081571 0.0067743 0.0246957 0.0002892 0.0102722 0.0246945 0.0087349 0.0067729 0.0225302 0.0122328 -0.0016389 0.0225307 0.0087337 -0.0101193 0.0225319 0.0002873 -0.0136172 0.0225332 -0.0081585 -0.0101181 0.0225337 -0.0116564 -0.0016373 0.0225332 -0.0081573 0.0067741 0.0225319 0.000289 0.010272 0.0225307 0.0002839 0.0102669 -0.0258946 -0.0081624 0.006769 -0.0258933 -0.0116615 -0.0016423 -0.0258921 -0.0081636 -0.0101232 -0.0258915 0.0002823 -0.0136223 -0.0258921 0.0087286 -0.0101244 -0.0258933 0.0122277 -0.001644 -0.0258946 0.0087298 0.0067679 -0.0258951 0.0002841 0.0102672 -0.0238477 -0.0081622 0.0067692 -0.0238464 -0.0116613 -0.0016421 -0.0238452 -0.0081634 -0.010123 -0.0238447 0.0002825 -0.013622 -0.0238452 0.0087288 -0.0101241 -0.0238464 0.00873 0.0067681 -0.0238482 -0.010548 -0.0309107 0.0262602 -0.0105533 -0.0309159 -0.0238421 0.0112581 -0.0309122 0.0262579 0.0112529 -0.0309175 -0.0238444 0.0112531 -0.0295256 -0.0223182 0.011258 -0.0295206 0.0246976 -0.0105481 -0.0295191 0.0246999 -0.010553 -0.029524 -0.0223159 -0.010551 -0.0016421 -0.022319 -0.0105461 -0.0016371 0.0246969 0.01126 -0.0016387 0.0246946 0.0112551 -0.0016436 -0.0223213 0.011255 -0.0016437 -0.0238476 0.0112602 -0.0016385 0.0262548 -0.0105459 -0.001637 0.026257 -0.0105512 -0.0016422 -0.0238453 0.0032596 0.0013023 -0.0264139 0.0044923 -0.001655 -0.0264137 0.0032592 -0.0046505 -0.0264133 0.0002828 -0.0058832 -0.0264129 -0.0026936 -0.0046501 -0.0264127 -0.0039262 -0.0016544 -0.0264129 -0.0026931 0.0013027 -0.0264133 0.0002833 0.0025353 -0.0264137 0.0002889 0.0025409 0.0266982 -0.0026876 0.0013083 0.0266987 -0.0039207 -0.0016488 0.0266991 -0.002688 -0.0046445 0.0266993 0.0002883 -0.0058776 0.0266991 0.0032648 -0.0046449 0.0266987 0.0044979 -0.0016494 0.0266982 0.0032652 0.0013078 0.0266981 0.0221498 -0.018297 -0.0532336 -0.0440127 -0.0182935 -0.053229 -0.0440135 -0.0335076 -0.0532282 0.022149 -0.033551 -0.0532328 0.0145385 -0.0335451 0.0507267 -0.0376582 -0.0335025 0.0503676 -0.0376577 -0.0238965 0.050367 0.014539 -0.0238992 0.0507262 0.022155 -0.0182931 0.0211808 -0.0440075 -0.0182896 0.0211854 0.0075687 -0.0335447 0.0521782 -0.0298333 -0.0335427 0.0521808 -0.0298328 -0.0238968 0.0521803 0.0075692 -0.0238988 0.0521776 0.0221564 -0.0226617 0.0447678 -0.0440061 -0.0226583 0.0447724 0.0221558 -0.0335059 0.0447683 -0.0440067 -0.0335025 0.044773
                                                                ]
                                                              }
                                                              coordIndex [
                                                                76 70 66 -1 71 77 67 -1 70 75 76 -1 76 75 69 -1 68 74 77 -1 77 74 71 -1 67 79 73 -1 64 73 79 -1 64 79 77 -1 63 64 77 -1 63 77 71 -1 62 70 76 -1 65 78 72 -1 66 72 78 -1 62 76 65 -1 76 78 65 -1 66 78 69 -1 78 76 69 -1 67 68 79 -1 68 77 79 -1 75 70 71 -1 75 71 74 -1 75 72 66 -1 75 66 69 -1 74 73 72 -1 74 72 75 -1 68 67 74 -1 67 73 74 -1 73 64 72 -1 64 65 72 -1 62 63 71 -1 62 71 70 -1 62 65 64 -1 62 64 63 -1
                                                              ]
                                                              creaseAngle 0.2
                                                            }
                                                          }
                                                          Shape {
                                                            appearance USE METAL_APPEARANCE
                                                            geometry IndexedFaceSet {
                                                              coord USE DFootRCoord
                                                              coordIndex [
                                                                1 3 2 -1 40 3 1 -1 40 4 3 -1 0 4 40 -1 0 5 4 -1 0 6 5 -1 9 10 11 -1 9 11 12 -1 8 9 12 -1 7 8 12 -1 7 12 13 -1 14 7 13 -1 28 26 27 -1 42 26 28 -1 42 25 26 -1 29 25 42 -1 29 24 25 -1 29 23 24 -1 20 19 18 -1 20 18 17 -1 21 20 17 -1 22 21 17 -1 22 17 16 -1 15 22 16 -1 53 46 52 -1 46 51 52 -1 46 47 51 -1 47 48 51 -1 48 50 51 -1 48 49 50 -1 55 61 54 -1 55 56 61 -1 56 60 61 -1 56 59 60 -1 56 57 59 -1 57 58 59 -1 47 46 61 -1 47 61 60 -1 48 47 60 -1 48 60 59 -1 49 48 59 -1 49 59 58 -1 50 49 58 -1 50 58 57 -1 51 50 57 -1 51 57 56 -1 52 51 56 -1 52 56 55 -1 53 52 55 -1 53 55 54 -1 46 53 54 -1 46 54 61 -1 38 37 34 -1 38 34 41 -1 36 39 40 -1 36 40 35 -1 42 45 38 -1 42 38 41 -1 44 43 40 -1 44 40 39 -1 33 31 45 -1 33 45 42 -1 30 32 43 -1 30 43 44 -1 34 33 42 -1 34 42 41 -1 32 35 43 -1 35 40 43 -1 36 30 44 -1 36 44 39 -1 31 37 45 -1 37 38 45 -1 29 21 22 -1 29 42 21 -1 42 20 21 -1 42 28 20 -1 28 19 20 -1 28 27 19 -1 27 18 19 -1 27 26 18 -1 26 17 18 -1 26 25 17 -1 25 16 17 -1 25 24 16 -1 24 15 16 -1 24 23 15 -1 23 22 15 -1 23 29 22 -1 6 0 7 -1 7 14 6 -1 5 14 13 -1 5 6 14 -1 4 13 12 -1 4 5 13 -1 3 12 11 -1 3 4 12 -1 2 11 10 -1 2 3 11 -1 1 10 9 -1 1 2 10 -1 40 9 8 -1 40 1 9 -1 0 8 7 -1 0 40 8 -1
                                                              ]
                                                              creaseAngle 0.2
                                                            }
                                                          }
                                                        ]
                                                      }
                                                    ]
                                                    boundingObject Pose {
                                                      translation -0.011 -0.027 -0.001
                                                      children [
                                                        Box {
                                                          size 0.066 0.013 0.105
                                                        }
                                                      ]
                                                    }
                                                    physics Physics {
                                                      density -1
                                                      mass 0.0794462
                                                      centerOfMass [
                                                        -0.00950588 -0.0259953 -0.000502877
                                                      ]
                                                      inertiaMatrix [
                                                        6.8325629e-05 8.7890505e-05 3.5840758e-05 -2.5330463e-06 -2.1869558e-07 9.7620541e-07
                                                      ]
                                                    }
                                                  }
                                                }
                                            ]
                                            boundingObject Pose {
                                              translation 0 0.01 -0.0205
                                              children [
                                                Box {
                                                  size 0.036 0.045 0.083
                                                }
                                              ]
                                            }
                                            physics Physics {
                                              density -1
                                              mass 0.167108
                                              centerOfMass [
                                                0.000213732 0.0138731 -0.0185361
                                              ]
                                              inertiaMatrix [
                                                1.2079175e-04 1.0885465e-04 4.1871103e-05 7.9781067e-07 3.9322246e-07 7.0770117e-06
                                              ]
                                            }
                                          }
                                        }
                                    ]
                                    boundingObject Group {
                                      children [
                                        Pose {
                                          translation 0 -0.058 -0.001
                                          children [
                                            Box {
                                              size 0.064 0.034 0.041
                                            }
                                          ]
                                        }
                                        Pose {
                                          translation 0 -0.02 0.016
                                          rotation 1 0 0 0.04
                                          children [
                                            Box {
                                              size 0.062 0.073 0.027
                                            }
                                          ]
                                        }
                                      ]
                                    }
                                    physics Physics {
                                      density -1
                                      mass 0.0703098
                                      centerOfMass [
                                        0.000592469 -0.0539545 0.00654763
                                      ]
                                      inertiaMatrix [
                                        9.3369608e-05 4.6295534e-05 1.1351516e-04 9.3567395e-07 2.3992085e-07 -1.2858493e-05
                                      ]
                                    }
                                  }
                                }
                            ]
                            boundingObject Pose {
                              translation 0 -0.058 0.006
                              children [
                                Box {
                                  size 0.053 0.035 0.042
                                }
                              ]
                            }
                            physics Physics {
                              density -1
                              mass 0.119043
                              centerOfMass [
                                0.000322635 -0.0629655 0.000691906
                              ]
                              inertiaMatrix [
                                9.7950272e-05 3.2848287e-05 1.1493509e-04 -1.2119368e-06 2.1223016e-07 -1.9474021e-06
                              ]
                            }
                          }
                        }
                    ]
                    boundingObject Pose {
                      translation 0 -0.0105 -0.023
                      children [
                        Box {
                          size 0.036 0.043 0.077
                        }
                      ]
                    }
                    physics Physics {
                      density -1
                      mass 0.167108
                      centerOfMass [
                        -7.99828e-05 -0.0138731 -0.0182424
                      ]
                      inertiaMatrix [
                        1.2259691e-04 1.1066637e-04 4.1877668e-05 -7.1127469e-07 -8.1143913e-07 -7.1635476e-06
                      ]
                    }
                  }
                }
            ]
            name "pelvYR"
            boundingObject Pose {
              translation 0 0.017 0.001
              children [
                Box {
                  size 0.022 0.028 0.05
                }
              ]
            }
            physics Physics {
              density -1
              mass 0.0270692
              centerOfMass [
                0.00048 -0.0 0.01844
              ]
              inertiaMatrix [
                1.5019148e-05 1.1328768e-05 6.1825529e-06 -0.0000000e+00 -0.0000000e+00 -7.3350016e-07
              ]
            }
          }
        }
      # ShoulderL
      %< if (enable_backlash) { >%
        DEF DShoulderL HingeJointWithBacklash {
          gearMass 0.001
          backlash %<= backlash_shoulder >%
      %< } else { >%
        DEF DShoulderL HingeJoint {
      %< } >%
          device [
            RotationalMotor {
              name "ShoulderL"
              acceleration 55
              maxVelocity 12.26
              minPosition -3.14
              maxPosition 2.85
              maxTorque 2.5
            }
            PositionSensor {
              name "ShoulderLS"
            }
          ]
          jointParameters HingeJointParameters {
            axis 0 1 0
            anchor -0.0 0.082 0.0
            position 0.72
            dampingConstant 0.002
            staticFriction 0.025
          }
          endPoint Solid {
            translation 0 0.082 0
            rotation 0.6734 0.6734 0.3051 2.5494
            children [
              DEF DShoulderLShape Shape {
                appearance USE METAL_APPEARANCE
                geometry IndexedFaceSet {
                  coord Coordinate {
                    point [
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                  ]
                  creaseAngle 0.2
                }
              }
              # ArmUpperL
              %< if (enable_backlash) { >%
                DEF DArmUpperL HingeJointWithBacklash {
                  gearMass 0.001
                  backlash %<= backlash_arm_upper >%
              %< } else { >%
                DEF DArmUpperL HingeJoint {
              %< } >%
                  device [
                    RotationalMotor {
                      name "ArmUpperL"
                      acceleration 55
                      maxVelocity 12.26
                      minPosition -2.25
                      maxPosition 0.77
                      maxTorque 2.5
                    }
                    PositionSensor {
                      name "ArmUpperLS"
                    }
                  ]
                  jointParameters HingeJointParameters {
                    axis 0 0 -1
                    anchor 0 -0.016 0
                    position 0.36
                    dampingConstant 0.002
                    staticFriction 0.025
                  }
                  endPoint Solid {
                    translation 0 -0.016 0
                    rotation 0 0 -1 -0.4254
                    children [
                      DEF DArmUpperLShape Group {
                        children [
                          Shape {
                            appearance USE PLASTIC_APPEARANCE
                            geometry IndexedFaceSet {
                              coord DEF DArmUpperLCoord Coordinate {
                                point [
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                                ]
                              }
                              coordIndex [
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                              ]
                              creaseAngle 0.4
                            }
                          }
                          Shape {
                            appearance USE MOTOR_APPEARANCE
                            geometry IndexedFaceSet {
                              coord USE DArmUpperLCoord
                              coordIndex [
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                              ]
                              creaseAngle 0.2
                            }
                          }
                        ]
                      }
                      # ArmLowerL
                      %< if (enable_backlash) { >%
                        DEF DArmLowerL HingeJointWithBacklash {
                          gearMass 0.001
                          backlash %<= backlash_arm_lower >%
                      %< } else { >%
                        DEF DArmLowerL HingeJoint {
                      %< } >%
                          device [
                            RotationalMotor {
                              name "ArmLowerL"
                              acceleration 55
                              maxVelocity 12.26
                              minPosition -1.18
                              maxPosition 1.63
                              maxTorque 2.5
                            }
                            PositionSensor {
                              name "ArmLowerLS"
                            }
                          ]
                          jointParameters HingeJointParameters {
                            axis 1 0 0
                            anchor 0 -0.06 0.016
                            position -0.52
                            dampingConstant 0.002
                            staticFriction 0.025
                          }
                          endPoint Solid {
                            translation 0 -0.06 0.016
                            rotation 1 0 0 -2.0908
                            children [
                              DEF LEFT_HAND_SLOT Group {
                                children IS leftHandSlot
                              }
                              DEF DArmLowerLShape Group {
                                children [
                                  Shape {
                                    appearance USE PLASTIC_APPEARANCE
                                    geometry IndexedFaceSet {
                                      coord DEF DArmLowerLCoord Coordinate {
                                        point [
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                                      creaseAngle 0.5
                                    }
                                  }
                                  Shape {
                                    appearance USE METAL_APPEARANCE
                                    geometry IndexedFaceSet {
                                      coord USE DArmLowerLCoord
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                            ]
                            boundingObject Pose {
                              translation 0.0075 -0.073 -0.016
                              children [
                                Box {
                                  size 0.027 0.113 0.036
                                }
                              ]
                            }
                            physics Physics {
                              density -1
                              mass 0.0592885
                              centerOfMass [
                                0.00666564 -0.0458382 -0.0134901
                              ]
                              inertiaMatrix [
                                8.6855267e-05 2.1192085e-05 8.6845450e-05 5.3020311e-06 4.3636051e-07 -6.4855932e-06
                              ]
                            }
                          }
                        }
                    ]
                    boundingObject Group {
                      children [
                        Pose {
                          translation 0 -0.019 0
                          children [
                            Box {
                              size 0.036 0.044 0.04
                            }
                          ]
                        }
                        Pose {
                          translation 0 -0.06 0.003
                          children [
                            Box {
                              size 0.036 0.036 0.051
                            }
                          ]
                        }
                      ]
                    }
                    physics Physics {
                      density -1
                      mass 0.168377
                      centerOfMass [
                        0.000659787 -0.036239 0.000734065
                      ]
                      inertiaMatrix [
                        1.2202839e-04 3.8088441e-05 1.1340830e-04 -2.0812626e-06 -8.8143449e-07 1.8251448e-06
                      ]
                    }
                  }
                }
            ]
            name "shoulderL"
            boundingObject Pose {
              translation -0.009 -0.0065 0
              rotation 0 0 1 -0.785398
              children [
                Box {
                  size 0.027 0.022 0.044
                }
              ]
            }
            physics Physics {
              density -1
              mass 0.025913
              centerOfMass [
                0.00139 -0.01352 0.01264
              ]
              inertiaMatrix [
                9.7758165e-06 1.0511104e-05 5.4767980e-06 1.6911839e-06 -4.5174329e-07 3.3406955e-07
              ]
            }
          }
        }
      # ShoulderR
      %< if (enable_backlash) { >%
        DEF DShoulderR HingeJointWithBacklash {
          gearMass 0.001
          backlash %<= backlash_shoulder >%
      %< } else { >%
        DEF DShoulderR HingeJoint {
      %< } >%
          device [
            RotationalMotor {
              name "ShoulderR"
              acceleration 55
              maxVelocity 12.26
              minPosition -3.14
              maxPosition 3.14
              maxTorque 2.5
            }
            PositionSensor {
              name "ShoulderRS"
            }
          ]
          jointParameters HingeJointParameters {
            axis 0 -1 0
            anchor 0.0 -0.082 -0.0
            position -0.84
            dampingConstant 0.002
            staticFriction 0.025
          }
          endPoint Solid {
            translation 0 -0.082 0
            rotation 0.6826 0.6826 0.2611 2.6307
            children [
              DEF DShoulderRShape Shape {
                appearance USE METAL_APPEARANCE
                geometry IndexedFaceSet {
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                  }
                  coordIndex [
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                  ]
                  creaseAngle 0.2
                }
              }
              # ArmUpperR
              %< if (enable_backlash) { >%
                DEF DArmUpperR HingeJointWithBacklash {
                  gearMass 0.001
                  backlash %<= backlash_arm_upper >%
              %< } else { >%
                DEF DArmUpperR HingeJoint {
              %< } >%
                  device [
                    RotationalMotor {
                      name "ArmUpperR"
                      acceleration 55
                      maxVelocity 12.26
                      minPosition -0.68
                      maxPosition 2.3
                      maxTorque 2.5
                    }
                    PositionSensor {
                      name "ArmUpperRS"
                    }
                  ]
                  jointParameters HingeJointParameters {
                    axis 0 0 -1
                    anchor 0 -0.016 0
                    position -0.33
                    dampingConstant 0.002
                    staticFriction 0.025
                  }
                  endPoint Solid {
                    translation 0 -0.016 0
                    rotation 0 0 -1 0.4554
                    children [
                      DEF DArmUpperRShape Group {
                        children [
                          Shape {
                            appearance USE PLASTIC_APPEARANCE
                            geometry IndexedFaceSet {
                              coord DEF DArmUpperRCoord Coordinate {
                                point [
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                                ]
                              }
                              coordIndex [
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                              ]
                              creaseAngle 0.2
                            }
                          }
                          Shape {
                            appearance USE MOTOR_APPEARANCE
                            geometry IndexedFaceSet {
                              coord USE DArmUpperRCoord
                              coordIndex [
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                              ]
                              creaseAngle 0.2
                            }
                          }
                        ]
                      }
                      # ArmLowerR
                      %< if (enable_backlash) { >%
                        DEF DArmLowerR HingeJointWithBacklash {
                          gearMass 0.001
                          backlash %<= backlash_arm_lower >%
                      %< } else { >%
                        DEF DArmLowerR HingeJoint {
                      %< } >%
                          device [
                            RotationalMotor {
                              name "ArmLowerR"
                              acceleration 55
                              maxVelocity 12.26
                              minPosition -1.65
                              maxPosition 1.16
                              maxTorque 2.5
                            }
                            PositionSensor {
                              name "ArmLowerRS"
                            }
                          ]
                          jointParameters HingeJointParameters {
                            axis -1 0 0
                            anchor 0 -0.06 0.016
                            position 0.51
                            dampingConstant 0.002
                            staticFriction 0.025
                          }
                          endPoint Solid {
                            translation 0 -0.06 0.016
                            rotation -1 0 0 2.0808
                            children [
                              DEF RIGHT_HAND_SLOT Group {
                                children IS rightHandSlot
                              }
                              DEF DArmLowerRShape Group {
                                children [
                                  Shape {
                                    appearance USE PLASTIC_APPEARANCE
                                    geometry IndexedFaceSet {
                                      coord DEF DArmLowerRCoord Coordinate {
                                        point [
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                                  Shape {
                                    appearance USE METAL_APPEARANCE
                                    geometry IndexedFaceSet {
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                              children [
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                              ]
                            }
                            physics Physics {
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                              mass 0.0592885
                              centerOfMass [
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                              inertiaMatrix [
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                    boundingObject Group {
                      children [
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                          children [
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                        }
                        Pose {
                          translation 0 -0.06 0.003
                          children [
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                        }
                      ]
                    }
                    physics Physics {
                      density -1
                      mass 0.168377
                      centerOfMass [
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                      inertiaMatrix [
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            name "shoulderR"
            boundingObject Pose {
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              rotation 0 0 1 0.785398
              children [
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              ]
            }
            physics Physics {
              density -1
              mass 0.025913
              centerOfMass [
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              inertiaMatrix [
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          }
        }
      DEF DHeadBackLED Pose {
        rotation 0.5774 0.5773 0.5773 2.0944
        %< if (has_jersey) { >%
          translation -0.056 -0.01 -0.01
        %< } else { >%
          translation -0.076 -0.01 -0.01
        %< } >%
        children [
          Shape {
            appearance PBRAppearance {
              baseColor 0.7 0.7 0.7
              metalness 0
              roughness 0.3
              emissiveIntensity 6
            }
            geometry Box {
              size 0.002 0.005 0.002
            }
          }
        ]
      }
      DEF DEyeBackLED Pose {
        rotation 0.5774 0.5773 0.5773 2.0944
        %< if (has_jersey) { >%
          translation -0.056 -0.015 -0.01
        %< } else { >%
          translation -0.076 -0.015 -0.01
        %< } >%
        children [
          Shape {
            appearance PBRAppearance {
              baseColor 0.7 0.7 0.7
              metalness 0
              roughness 0.3
              emissiveIntensity 6
            }
            geometry Box {
              size 0.002 0.005 0.002
            }
          }
        ]
      }
    ]
    boundingObject Group {
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          rotation 0.5774 0.5773 0.5773 2.0944
          translation -0.025 0 -0.059
          children [
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              size 0.1 0.058 0.091
            }
          ]
        }
        Pose {
          rotation 0.5774 0.5773 0.5773 2.0944
          translation -0.038 0 -0.029
          children [
            Box {
              size 0.114 0.045 0.076
            }
          ]
        }
        Pose {
          translation -0.027 0 -0.006
          rotation 0.5957 0.5957 0.5389 2.1531
          children [
            Box {
              size 0.114 0.058 0.076
            }
          ]
        }
        Pose {
          rotation 0.5774 0.5773 0.5773 2.0944
          translation 0.028 0 -0.042
          children [
            Box {
              size 0.114 0.046 0.016
            }
          ]
        }
      ]
    }
    name IS name
    model IS _model
    description IS _description
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      mass 0.975599
      centerOfMass [
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      inertiaMatrix [
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    }
    controller IS controller
    controllerArgs IS controllerArgs
    window IS window
    customData IS customData
    supervisor IS supervisor
    synchronization IS synchronization
    selfCollision IS selfCollision
    %< if (fields.window.value != "<generic>" && fields.window.value != "<none>") { >%
      remoteControl "robotis-op2_tcpip"
    %< } >%
  }
}