#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/RobotisOp3.proto
# keywords: robot/legged
# ROBOTIS OP3 is an open platform, miniature humanoid robot used for research, education and outreach.
# The model contains principally:
# - the 20 DOF
# - LEDs
# - accelerometer
# - gyro
# - camera
# - realistic physics
# More info here: http://support.robotis.com/en/product/robotis-op3/introduction/what_is_robotis_op3.htm

EXTERNPROTO "RobotisOp3BodyShape.proto"
EXTERNPROTO "MX430FrontRotorShape.proto"
EXTERNPROTO "MX430RearRotorShape.proto"
EXTERNPROTO "RobotisOp3StraightFrameShape.proto"
EXTERNPROTO "MX430ServoShape.proto"
EXTERNPROTO "RobotisOp3TriangleFrameShape.proto"
EXTERNPROTO "RobotisOp3LongFrameShape.proto"
EXTERNPROTO "RobotisOp3SquaredFrameShape.proto"
EXTERNPROTO "RobotisOp3FootShape.proto"
EXTERNPROTO "RobotisOp3ShiftedFrameShape.proto"
EXTERNPROTO "RobotisOp3ArmFrameShape.proto"
EXTERNPROTO "RobotisOp3HeadShape.proto"
EXTERNPROTO "RobotisOp3HeadLEDShape.proto"

PROTO RobotisOp3 [
  field SFVec3f    translation         0 0 0.279
  field SFRotation rotation            0 0 1 0
  field SFString   name                "ROBOTIS OP3"                  # Is `Solid.name`.
  field SFString   controller          "<generic>"                    # Is `Robot.controller`.
  field MFString   controllerArgs      []                             # Is `Robot.controllerArgs`.
  field SFString   window              "<generic>"                    # Is `Robot.window`.
  field SFString   contactMaterial     "ROBOTIS OP3 default material" # Defines the `Solid.contactMaterial` for all the robot parts, except the feet and the hands.
  field SFString   footContactMaterial "ROBOTIS OP3 foot material"    # Defines the `Solid.contactMaterial` for the feet.
  field SFString   handContactMaterial "ROBOTIS OP3 finger material"  # Defines the `Solid.contactMaterial` for the hands.
  field SFString   customData          ""                             # Is `Robot.customData`.
  field SFBool     supervisor          FALSE                          # Is `Robot.supervisor`.
  field SFBool     synchronization     TRUE                           # Is `Robot.synchronization`.
  field SFBool     selfCollision       FALSE                          # Is `Robot.selfCollision`.
  field SFInt32    cameraWidth         1920                           # Is `Camera.width`.
  field SFInt32    cameraHeight        1080                           # Is `Camera.height`.
  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 righthand slot.
]
{
  Robot {
    translation IS translation
    rotation IS rotation
    controller IS controller
    controllerArgs IS controllerArgs
    window IS window
    customData IS customData
    supervisor IS supervisor
    synchronization IS synchronization
    contactMaterial IS contactMaterial
    selfCollision IS selfCollision
    name IS name
    children [
      Accelerometer {
        name "Accelerometer"
      }
      Gyro {
        name "Gyro"
      }
      Speaker {
        translation 0.0385 0.001 0.098
        name "Speaker"
      }
      LED {
        translation 0.03085 0 0.1232
        name "BodyLed"
        color [
        ]
        gradual TRUE
        children [
          Shape {
            appearance Appearance {
              material Material {
              }
            }
            geometry Sphere {
              radius 0.002
            }
          }
        ]
      }
      Group {
        children IS bodySlot
      }
      Solid {
        name "body"
        contactMaterial IS contactMaterial
        physics Physics {
          density -1
          mass 1.34928
          centerOfMass -0.01501 0.00013 0.06582
          inertiaMatrix [
            0.00340499 0.00296939 0.00317331 5.72e-06 -4.256e-05 -5.9e-07
          ]
        }
        boundingObject Group {
          children [
            Pose {
              translation -0.016750 0.052 0.08
              children [
                Box {
                  size 0.172 0.01 0.063
                }
              ]
            }
            Pose {
              translation -0.016750 -0.052 0.08
              children [
                Box {
                  size 0.172 0.01 0.063
                }
              ]
            }
            Pose {
              translation -0.016750 0 0.068250
              children [
                Box {
                  size 0.11 0.12 0.135
                }
              ]
            }
          ]
        }
        children [
          RobotisOp3BodyShape {
          }
          HingeJoint {
            jointParameters HingeJointParameters {
              axis 0.0 0.0 -1.0
              anchor 0.0 0.035 0.0
              dampingConstant 0.1
              staticFriction 0.0
            }
            device [
              RotationalMotor {
                name "PelvYL"
                maxVelocity 100.0
                minPosition -2.82743338823
                maxPosition 2.82743338823
                maxTorque 1000.0
              }
              PositionSensor {
                name "PelvYLS"
              }
            ]
            endPoint Solid {
              name "PelvYLSolid"
              translation 0.0 0.035 0.0
              contactMaterial IS contactMaterial
              physics Physics {
                density -1
                mass 0.01181
                centerOfMass -0.00157 0.0 -0.00774
                inertiaMatrix [
                  1.51e-06 4.3e-06 4.12e-06 0.0 1e-08 0.0
                ]
              }
              boundingObject Pose {
                translation -0.001500 0.000000 -0.015500
                children [
                  Box {
                    size 0.045000 0.025000 0.031000
                  }
                ]
              }
              children [
                Pose { # Left Hip Yaw Shape
                  translation 0 0 0.002
                  rotation 1 0 0 -1.5708
                  children [
                    MX430FrontRotorShape {
                      screwA TRUE
                      screwB TRUE
                      screwC TRUE
                      screwD TRUE
                      screwE TRUE
                      screwF TRUE
                      screwG TRUE
                      screwH TRUE
                    }
                  ]
                }
                Pose {
                  translation -0.026 0 -0.028
                  rotation 0 0 1 -1.5708
                  children [
                    MX430FrontRotorShape {
                      screwC TRUE
                      screwD TRUE
                      screwE TRUE
                      screwF TRUE
                      screwG TRUE
                    }
                  ]
                }
                Pose {
                  translation -0.017 0 -0.028
                  rotation 0 0 1 1.5708
                  children [
                    MX430RearRotorShape {
                      screwC TRUE
                      screwD TRUE
                      screwE TRUE
                      screwF TRUE
                      screwG TRUE
                    }
                  ]
                }
                Pose {
                  translation -0.019 0 -0.028
                  rotation 0 0 1 1.5708
                  children [
                    MX430RearRotorShape {
                    }
                  ]
                }
                RobotisOp3StraightFrameShape {
                }
                HingeJoint {
                  jointParameters HingeJointParameters {
                    axis -1.0 0.0 0.0
                    anchor -0.024 0.0 -0.0285
                    dampingConstant 0.1
                    staticFriction 0.0
                  }
                  device [
                    RotationalMotor {
                      name "PelvL"
                      maxVelocity 100.0
                      minPosition -2.82743338823
                      maxPosition 2.82743338823
                      maxTorque 1000.0
                    }
                    PositionSensor {
                      name "PelvLS"
                    }
                  ]
                  endPoint Solid {
                    name "PelvLSolid"
                    translation -0.024 0.0 -0.0285
                    contactMaterial IS contactMaterial
                    physics Physics {
                      density -1
                      mass 0.17886
                      centerOfMass 0.00388 0.00028 -0.01214
                      inertiaMatrix [
                        4.661e-05 0.00012523 0.00010857 -1.01e-06 -1.31e-06 -6e-08
                      ]
                    }
                    boundingObject Pose {
                      translation 0.003875 0.002200 -0.012000
                      children [
                        Box {
                          size 0.079750 0.042400 0.046500
                        }
                      ]
                    }
                    children [ # Left Hip Roll Shape
                      Pose {
                        translation 0.024 0.017 0
                        rotation 0 1 0 3.1415
                        children [
                          MX430ServoShape {
                          }
                        ]
                      }
                      Pose {
                        translation -0.002 0 0
                        rotation 0.707105 0.707108 -0.0000327581 3.14153
                        children [
                          MX430ServoShape {
                          }
                        ]
                      }
                      RobotisOp3TriangleFrameShape {
                      }
                      HingeJoint {
                        jointParameters HingeJointParameters {
                          axis 0.0 1.0 0.0
                          anchor 0.0241 0.019 0.0
                          dampingConstant 0.1
                          staticFriction 0.0
                        }
                        device [
                          RotationalMotor {
                            name "LegUpperL"
                            maxVelocity 100.0
                            minPosition -2.82743338823
                            maxPosition 2.82743338823
                            maxTorque 1000.0
                          }
                          PositionSensor {
                            name "LegUpperLS"
                          }
                        ]
                        endPoint Solid {
                          name "LegUpperLSolid"
                          translation 0.0241 0.019 0.0
                          contactMaterial IS contactMaterial
                          physics Physics {
                            density -1
                            mass 0.11543
                            centerOfMass 0.00059 -0.01901 -0.08408
                            inertiaMatrix [
                              0.00010499 9.613e-05 2.493e-05 -1e-08 -7.1e-07 3.53e-06
                            ]
                          }
                          boundingObject Pose {
                            translation 0.000425 -0.018800 -0.059450
                            children [
                              Box {
                                size 0.030850 0.046400 0.123900
                              }
                            ]
                          }
                          children [ # Left Hip Pitch Shape
                            Pose {
                              translation 0 -0.002 0
                              children [
                                MX430FrontRotorShape {
                                  screwA TRUE
                                  screwB TRUE
                                  screwC TRUE
                                  screwG TRUE
                                  screwH TRUE
                                }
                                MX430RearRotorShape {
                                  screwA TRUE
                                  screwB TRUE
                                  screwC TRUE
                                  screwG TRUE
                                  screwH TRUE
                                }
                              ]
                            }
                            Pose {
                              translation 0 -0.019 -0.056
                              rotation -0.57735 0.57735 -0.577352 2.0944
                              children [
                                RobotisOp3LongFrameShape {
                                }
                              ]
                            }
                            Pose {
                              translation 0 -0.019 -0.056
                              rotation 0.57735 0.57735 0.577352 2.0944
                              children [
                                RobotisOp3SquaredFrameShape {
                                }
                              ]
                            }
                            Pose {
                              translation 0 -0.002 -0.11
                              children [
                                MX430ServoShape {
                                }
                              ]
                            }
                            HingeJoint {
                              jointParameters HingeJointParameters {
                                axis 0.0 1.0 0.0
                                anchor 0.0 0.0 -0.11015
                                dampingConstant 0.1
                                staticFriction 0.0
                              }
                              device [
                                RotationalMotor {
                                  name "LegLowerL"
                                  maxVelocity 100.0
                                  minPosition -2.82743338823
                                  maxPosition 2.82743338823
                                  maxTorque 1000.0
                                }
                                PositionSensor {
                                  name "LegLowerLS"
                                }
                              ]
                              endPoint Solid {
                                name "LegLowerLSolid"
                                translation 0.0 0.0 -0.11015
                                contactMaterial IS contactMaterial
                                physics Physics {
                                  density -1
                                  mass 0.04015
                                  centerOfMass 0.0 -0.02151 -0.055
                                  inertiaMatrix [
                                    3.715e-05 2.751e-05 1.511e-05 0.0 0.0 0.0
                                  ]
                                }
                                boundingObject Pose {
                                  translation 0.000000 -0.020000 -0.055000
                                  children [
                                    Box {
                                      size 0.030000 0.044000 0.115000
                                    }
                                  ]
                                }
                                children [
                                  Pose {
                                    translation 0 -0.002 0
                                    children [
                                      MX430FrontRotorShape {
                                        screwA TRUE
                                        screwB TRUE
                                        screwC TRUE
                                        screwG TRUE
                                        screwH TRUE
                                      }
                                      MX430RearRotorShape {
                                        screwA TRUE
                                        screwB TRUE
                                        screwC TRUE
                                        screwG TRUE
                                        screwH TRUE
                                      }
                                    ]
                                  }
                                  Pose {
                                    translation 0 -0.019 -0.055
                                    rotation 0.57735 0.57735 0.57735 2.09434
                                    children [
                                      RobotisOp3LongFrameShape {
                                      }
                                    ]
                                  }
                                  Pose {
                                    translation 0 -0.019 -0.055
                                    rotation -0.577352 -0.57735 0.57735 2.0944
                                    children [
                                      RobotisOp3LongFrameShape {
                                      }
                                    ]
                                  }
                                  Pose {
                                    translation 0 -0.002 -0.11
                                    children [
                                      MX430FrontRotorShape {
                                        screwC TRUE
                                        screwD TRUE
                                        screwE TRUE
                                        screwF TRUE
                                        screwG TRUE
                                      }
                                      MX430RearRotorShape {
                                        screwC TRUE
                                        screwD TRUE
                                        screwE TRUE
                                        screwF TRUE
                                        screwG TRUE
                                      }
                                    ]
                                  }
                                  HingeJoint {
                                    jointParameters HingeJointParameters {
                                      axis 0.0 -1.0 0.0
                                      anchor 0.0 0.0 -0.11
                                      dampingConstant 0.1
                                      staticFriction 0.0
                                    }
                                    device [
                                      RotationalMotor {
                                        name "AnkleL"
                                        maxVelocity 100.0
                                        minPosition -2.82743338823
                                        maxPosition 2.82743338823
                                        maxTorque 1000.0
                                      }
                                      PositionSensor {
                                        name "AnkleLS"
                                      }
                                    ]
                                    endPoint Solid {
                                      name "AnkleLSolid"
                                      translation 0.0 0.0 -0.11
                                      contactMaterial IS contactMaterial
                                      physics Physics {
                                        density -1
                                        mass 0.17886
                                        centerOfMass -0.02022 -0.01872 0.01214
                                        inertiaMatrix [
                                          4.661e-05 0.00012523 0.00010857 -1.01e-06 1.31e-06 6e-08
                                        ]
                                      }
                                      boundingObject Pose {
                                        translation -0.020600 -0.016800 0.012000
                                        children [
                                          Box {
                                            size 0.079000 0.042400 0.046500
                                          }
                                        ]
                                      }
                                      children [ # Left Ankle Pitch Shape
                                        Pose {
                                          translation 0 -0.002 0
                                          children [
                                            MX430ServoShape {
                                            }
                                          ]
                                        }
                                        Pose {
                                          translation -0.024 -0.019 0
                                          rotation 1 0 0 3.1415
                                          children [
                                            RobotisOp3TriangleFrameShape {
                                            }
                                          ]
                                        }
                                        Pose {
                                          translation -0.0265 -0.019 0
                                          rotation 0 0 1 -1.5708
                                          children [
                                            MX430ServoShape {
                                            }
                                          ]
                                        }
                                        HingeJoint {
                                          jointParameters HingeJointParameters {
                                            axis 1.0 0.0 0.0
                                            anchor -0.0241 -0.019 0.0
                                            dampingConstant 0.1
                                            staticFriction 0.0
                                          }
                                          device [
                                            RotationalMotor {
                                              name "FootL"
                                              maxVelocity 100.0
                                              minPosition -2.82743338823
                                              maxPosition 2.82743338823
                                              maxTorque 1000.0
                                            }
                                            PositionSensor {
                                              name "FootLS"
                                            }
                                          ]
                                          endPoint Solid {
                                            name "FootLSolid"
                                            translation -0.0241 -0.019 0.0
                                            contactMaterial IS footContactMaterial
                                            physics Physics {
                                              density -1
                                              mass 0.06934
                                              centerOfMass 0.02373 0.01037 -0.0276
                                              inertiaMatrix [
                                                4.034e-05 7.874e-05 0.00011579 -1.9e-07 1.2e-07 1.01e-06
                                              ]
                                            }
                                            boundingObject Pose {
                                              translation 0.024000 0.012500 -0.0265
                                              children [
                                                Box {
                                                  size 0.127000 0.080000 0.008
                                                }
                                              ]
                                            }
                                            children [
                                              Group {
                                                children IS leftFootSlot
                                              }
                                              Pose { # Left Foot Shape
                                                translation -0.002 0 0
                                                rotation 0 0 1 -1.5708
                                                children [
                                                  MX430FrontRotorShape {
                                                    screwA TRUE
                                                    screwB TRUE
                                                    screwC TRUE
                                                    screwG TRUE
                                                    screwH TRUE
                                                  }
                                                ]
                                              }
                                              Pose {
                                                translation 0.007 0 0
                                                rotation 0 0 1 1.5708
                                                children [
                                                  MX430RearRotorShape {
                                                    screwA TRUE
                                                    screwB TRUE
                                                    screwC TRUE
                                                    screwG TRUE
                                                    screwH TRUE
                                                  }
                                                ]
                                              }
                                              Pose {
                                                translation 0.005 0 0
                                                rotation 0 0 1 1.5708
                                                children [
                                                  MX430RearRotorShape {
                                                  }
                                                ]
                                              }
                                              Pose {
                                                translation 0.021 0 -0.029
                                                rotation 0 1 0 3.1415
                                                children [
                                                  RobotisOp3StraightFrameShape {
                                                  }
                                                ]
                                              }
                                              Pose {
                                                translation 0.02402 0.01251 -0.0305
                                                children [
                                                  RobotisOp3FootShape {
                                                  }
                                                ]
                                              }
                                            ]
                                          }
                                        }
                                      ]
                                    }
                                  }
                                ]
                              }
                            }
                          ]
                        }
                      }
                    ]
                  }
                }
              ]
            }
          }
          HingeJoint {
            jointParameters HingeJointParameters {
              axis 0.0 0.0 -1.0
              anchor 0.0 -0.035 0.0
              dampingConstant 0.1
              staticFriction 0.0
            }
            device [
              RotationalMotor {
                name "PelvYR"
                maxVelocity 100.0
                minPosition -2.82743338823
                maxPosition 2.82743338823
                maxTorque 1000.0
              }
              PositionSensor {
                name "PelvYRS"
              }
            ]
            endPoint Solid {
              name "PelvYRSolid"
              translation 0.0 -0.035 0.0
              contactMaterial IS contactMaterial
              physics Physics {
                density -1
                mass 0.01181
                centerOfMass -0.00157 0.0 -0.00774
                inertiaMatrix [
                  1.51e-06 4.3e-06 4.12e-06 0.0 1e-08 0.0
                ]
              }
              boundingObject Pose {
                translation -0.001500 0.000000 -0.015500
                children [
                  Box {
                    size 0.045000 0.025000 0.031000
                  }
                ]
              }
              children [
                Pose { # Right Hip Yaw Shape
                  translation 0 0 0.002
                  rotation 1 0 0 -1.5708
                  children [
                    MX430FrontRotorShape {
                      screwA TRUE
                      screwB TRUE
                      screwC TRUE
                      screwD TRUE
                      screwE TRUE
                      screwF TRUE
                      screwG TRUE
                      screwH TRUE
                    }
                  ]
                }
                Pose {
                  translation -0.026 0 -0.028
                  rotation 0 0 1 -1.5708
                  children [
                    MX430FrontRotorShape {
                      screwC TRUE
                      screwD TRUE
                      screwE TRUE
                      screwF TRUE
                      screwG TRUE
                    }
                  ]
                }
                Pose {
                  translation -0.017 0 -0.028
                  rotation 0 0 1 1.5708
                  children [
                    MX430RearRotorShape {
                      screwC TRUE
                      screwD TRUE
                      screwE TRUE
                      screwF TRUE
                      screwG TRUE
                    }
                  ]
                }
                Pose {
                  translation -0.019 0 -0.028
                  rotation 0 0 1 1.5708
                  children [
                    MX430RearRotorShape {
                    }
                  ]
                }
                RobotisOp3StraightFrameShape {
                }
                HingeJoint {
                  jointParameters HingeJointParameters {
                    axis -1.0 0.0 0.0
                    anchor -0.024 0.0 -0.0285
                    dampingConstant 0.1
                    staticFriction 0.0
                  }
                  device [
                    RotationalMotor {
                      name "PelvR"
                      maxVelocity 100.0
                      minPosition -2.82743338823
                      maxPosition 2.82743338823
                      maxTorque 1000.0
                    }
                    PositionSensor {
                      name "PelvRS"
                    }
                  ]
                  endPoint Solid {
                    name "PelvRSolid"
                    translation -0.024 0.0 -0.0285
                    contactMaterial IS contactMaterial
                    physics Physics {
                      density -1
                      mass 0.17886
                      centerOfMass 0.00388 -0.00028 -0.01214
                      inertiaMatrix [
                        4.661e-05 0.00012523 0.00010857 1.01e-06 -1.31e-06 6e-08
                      ]
                    }
                    boundingObject Pose {
                      translation 0.003875 -0.002200 -0.012000
                      children [
                        Box {
                          size 0.079750 0.042400 0.046500
                        }
                      ]
                    }
                    children [ # Left Hip Roll Shape
                      Pose {
                        translation 0.024 -0.017 0
                        rotation 1 0 0 3.1415
                        children [
                          MX430ServoShape {
                          }
                        ]
                      }
                      Pose {
                        translation -0.002 0 0
                        rotation 0.707105 0.707108 -0.0000327581 3.14153
                        children [
                          MX430ServoShape {
                          }
                        ]
                      }
                      RobotisOp3TriangleFrameShape {
                      }
                      HingeJoint {
                        jointParameters HingeJointParameters {
                          axis 0.0 -1.0 0.0
                          anchor 0.0241 -0.019 0.0
                          dampingConstant 0.1
                          staticFriction 0.0
                        }
                        device [
                          RotationalMotor {
                            name "LegUpperR"
                            maxVelocity 100.0
                            minPosition -2.82743338823
                            maxPosition 2.82743338823
                            maxTorque 1000.0
                          }
                          PositionSensor {
                            name "LegUpperRS"
                          }
                        ]
                        endPoint Solid {
                          name "LegUpperRSolid"
                          translation 0.0241 -0.019 0.0
                          contactMaterial IS contactMaterial
                          physics Physics {
                            density -1
                            mass 0.11543
                            centerOfMass 0.00059 0.01901 -0.08408
                            inertiaMatrix [
                              0.00010499 9.613e-05 2.493e-05 1e-08 -7.1e-07 -3.53e-06
                            ]
                          }
                          boundingObject Pose {
                            translation 0.000425 0.018800 -0.059450
                            children [
                              Box {
                                size 0.030850 0.046400 0.123900
                              }
                            ]
                          }
                          children [ # Right Hip Pitch Shape
                            Pose {
                              translation 0 0.002 0
                              rotation 0 0 1 3.1415
                              children [
                                MX430FrontRotorShape {
                                  screwA TRUE
                                  screwB TRUE
                                  screwC TRUE
                                  screwG TRUE
                                  screwH TRUE
                                }
                                MX430RearRotorShape {
                                  screwA TRUE
                                  screwB TRUE
                                  screwC TRUE
                                  screwG TRUE
                                  screwH TRUE
                                }
                              ]
                            }
                            Pose {
                              translation 0 0.019 -0.056
                              rotation -0.57735 0.57735 -0.577352 2.0944
                              children [
                                RobotisOp3LongFrameShape {
                                }
                              ]
                            }
                            Pose {
                              translation 0 0.019 -0.056
                              rotation 0.57735 0.57735 0.577352 2.0944
                              children [
                                RobotisOp3SquaredFrameShape {
                                }
                              ]
                            }
                            Pose {
                              translation 0 0.002 -0.11
                              rotation 0 0 1 3.1415
                              children [
                                MX430ServoShape {
                                }
                              ]
                            }
                            HingeJoint {
                              jointParameters HingeJointParameters {
                                axis 0.0 -1.0 0.0
                                anchor 0.0 0.0 -0.11015
                                dampingConstant 0.1
                                staticFriction 0.0
                              }
                              device [
                                RotationalMotor {
                                  name "LegLowerR"
                                  maxVelocity 100.0
                                  minPosition -2.82743338823
                                  maxPosition 2.82743338823
                                  maxTorque 1000.0
                                }
                                PositionSensor {
                                  name "LegLowerRS"
                                }
                              ]
                              endPoint Solid {
                                name "LegLowerRSolid"
                                translation 0.0 0.0 -0.11015
                                contactMaterial IS contactMaterial
                                physics Physics {
                                  density -1
                                  mass 0.04015
                                  centerOfMass 0.0 0.02151 -0.055
                                  inertiaMatrix [
                                    3.715e-05 2.751e-05 1.511e-05 0.0 0.0 0.0
                                  ]
                                }
                                boundingObject Pose {
                                  translation 0.000000 0.020000 -0.055000
                                  children [
                                    Box {
                                      size 0.030000 0.044000 0.115000
                                    }
                                  ]
                                }
                                children [ # Right Knee Shape
                                  Pose {
                                    translation 0 0.002 0
                                    rotation 0 0 1 3.1415
                                    children [
                                      MX430FrontRotorShape {
                                        screwA TRUE
                                        screwB TRUE
                                        screwC TRUE
                                        screwG TRUE
                                        screwH TRUE
                                      }
                                      MX430RearRotorShape {
                                        screwA TRUE
                                        screwB TRUE
                                        screwC TRUE
                                        screwG TRUE
                                        screwH TRUE
                                      }
                                    ]
                                  }
                                  Pose {
                                    translation 0 0.019 -0.055
                                    rotation -0.57735 0.57735 -0.577352 2.0944
                                    children [
                                      RobotisOp3LongFrameShape {
                                      }
                                    ]
                                  }
                                  Pose {
                                    translation 0 0.019 -0.055
                                    rotation 0.577352 -0.57735 -0.57735 2.0944
                                    children [
                                      RobotisOp3LongFrameShape {
                                      }
                                    ]
                                  }
                                  Pose {
                                    translation 0 0.002 -0.11
                                    rotation 0 0 1 3.1415
                                    children [
                                      MX430FrontRotorShape {
                                        screwC TRUE
                                        screwD TRUE
                                        screwE TRUE
                                        screwF TRUE
                                        screwG TRUE
                                      }
                                      MX430RearRotorShape {
                                        screwC TRUE
                                        screwD TRUE
                                        screwE TRUE
                                        screwF TRUE
                                        screwG TRUE
                                      }
                                    ]
                                  }
                                  HingeJoint {
                                    jointParameters HingeJointParameters {
                                      axis 0.0 1.0 0.0
                                      anchor 0.0 0.0 -0.11
                                      dampingConstant 0.1
                                      staticFriction 0.0
                                    }
                                    device [
                                      RotationalMotor {
                                        name "AnkleR"
                                        maxVelocity 100.0
                                        minPosition -2.82743338823
                                        maxPosition 2.82743338823
                                        maxTorque 1000.0
                                      }
                                      PositionSensor {
                                        name "AnkleRS"
                                      }
                                    ]
                                    endPoint Solid {
                                      name "AnkleRSolid"
                                      translation 0.0 0.0 -0.11
                                      contactMaterial IS contactMaterial
                                      physics Physics {
                                        density -1
                                        mass 0.17886
                                        centerOfMass -0.02022 0.01872 0.01214
                                        inertiaMatrix [
                                          4.661e-05 0.00012523 0.00010857 1.01e-06 1.31e-06 -6e-08
                                        ]
                                      }
                                      boundingObject Pose {
                                        translation -0.020225 0.016800 0.012000
                                        children [
                                          Box {
                                            size 0.079750 0.042400 0.046500
                                          }
                                        ]
                                      }
                                      children [
                                        Pose {
                                          translation 0 0.002 0
                                          rotation 0 0 1 3.1415
                                          children [
                                            MX430ServoShape {
                                            }
                                          ]
                                        }
                                        Pose {
                                          translation -0.024 0.019 0
                                          rotation 0 1 0 3.1415
                                          children [
                                            RobotisOp3TriangleFrameShape {
                                            }
                                          ]
                                        }
                                        Pose {
                                          translation -0.0265 0.019 0
                                          rotation 0 0 1 -1.5708
                                          children [
                                            MX430ServoShape {
                                            }
                                          ]
                                        }
                                        HingeJoint {
                                          jointParameters HingeJointParameters {
                                            axis 1.0 0.0 0.0
                                            anchor -0.0241 0.019 0.0
                                            dampingConstant 0.1
                                            staticFriction 0.0
                                          }
                                          device [
                                            RotationalMotor {
                                              name "FootR"
                                              maxVelocity 100.0
                                              minPosition -2.82743338823
                                              maxPosition 2.82743338823
                                              maxTorque 1000.0
                                            }
                                            PositionSensor {
                                              name "FootRS"
                                            }
                                          ]
                                          endPoint Solid {
                                            name "FootRSolid"
                                            translation -0.0241 0.019 0.0
                                            contactMaterial IS footContactMaterial
                                            physics Physics {
                                              density -1
                                              mass 0.06934
                                              centerOfMass 0.02373 -0.01037 -0.0276
                                              inertiaMatrix [
                                                4.034e-05 7.874e-05 0.00011579 1.9e-07 1.2e-07 -1.01e-06
                                              ]
                                            }
                                            boundingObject Pose {
                                              translation 0.024000 -0.012500 -0.0265
                                              children [
                                                Box {
                                                  size 0.127000 0.080000 0.008
                                                }
                                              ]
                                            }
                                            children [
                                              Group {
                                                children IS rightFootSlot
                                              }
                                              Pose { # Right Foot Shape
                                                translation -0.002 0 0
                                                rotation 0 0 1 -1.5708
                                                children [
                                                  MX430FrontRotorShape {
                                                    screwA TRUE
                                                    screwB TRUE
                                                    screwC TRUE
                                                    screwG TRUE
                                                    screwH TRUE
                                                  }
                                                ]
                                              }
                                              Pose {
                                                translation 0.007 0 0
                                                rotation 0 0 1 1.5708
                                                children [
                                                  MX430RearRotorShape {
                                                    screwA TRUE
                                                    screwB TRUE
                                                    screwC TRUE
                                                    screwG TRUE
                                                    screwH TRUE
                                                  }
                                                ]
                                              }
                                              Pose {
                                                translation 0.005 0 0
                                                rotation 0 0 1 1.5708
                                                children [
                                                  MX430RearRotorShape {
                                                  }
                                                ]
                                              }
                                              Pose {
                                                translation 0.021 0 -0.029
                                                rotation 0 1 0 3.1415
                                                children [
                                                  RobotisOp3StraightFrameShape {
                                                  }
                                                ]
                                              }
                                              Pose {
                                                translation 0.02402 -0.01251 -0.0305
                                                children [
                                                  RobotisOp3FootShape {
                                                  }
                                                ]
                                              }
                                            ]
                                          }
                                        }
                                      ]
                                    }
                                  }
                                ]
                              }
                            }
                          ]
                        }
                      }
                    ]
                  }
                }
              ]
            }
          }
          HingeJoint {
            jointParameters HingeJointParameters {
              axis 0.0 1.0 0.0
              anchor -0.001 0.06 0.111
              dampingConstant 0.1
              staticFriction 0.0
            }
            device [
              RotationalMotor {
                name "ShoulderL"
                maxVelocity 100.0
                minPosition -2.82743338823
                maxPosition 2.82743338823
                maxTorque 1000.0
              }
              PositionSensor {
                name "ShoulderLS"
              }
            ]
            endPoint Solid {
              name "ShoulderLSolid"
              translation -0.001 0.06 0.111
              contactMaterial IS contactMaterial
              physics Physics {
                density -1
                mass 0.01176
                centerOfMass 0.0 0.00823 -0.00233
                inertiaMatrix [
                  1.65e-06 3.87e-06 3.97e-06 0.0 0.0 3.1e-07
                ]
              }
              boundingObject Pose {
                translation 0.000000 0.015500 -0.003750
                children [
                  Box {
                    size 0.042000 0.031000 0.032500
                  }
                ]
              }
              children [  # Left Shoulder Pitch Shape
                Pose {
                  rotation -0.57735 0.577352 0.57735 2.0944
                  children [
                    Pose {
                      translation 0 0 -0.0025
                      rotation 1 0 0 1.5708
                      children [
                        MX430FrontRotorShape {
                          screwA TRUE
                          screwB TRUE
                          screwC TRUE
                          screwD TRUE
                          screwE TRUE
                          screwF TRUE
                          screwG TRUE
                          screwH TRUE
                        }
                      ]
                    }
                    Pose {
                      translation 0.01 -0.017 0.029
                      rotation 1 0 0 3.14
                      children [
                        MX430RearRotorShape {
                          screwC TRUE
                          screwD TRUE
                          screwE TRUE
                          screwF TRUE
                          screwG TRUE
                        }
                        MX430FrontRotorShape {
                          screwC TRUE
                          screwD TRUE
                          screwE TRUE
                          screwF TRUE
                          screwG TRUE
                        }
                      ]
                    }
                    RobotisOp3ShiftedFrameShape {
                    }
                  ]
                }
                HingeJoint {
                  jointParameters HingeJointParameters {
                    axis -1.0 0.0 0.0
                    anchor 0.019 0.0285 -0.01
                    dampingConstant 0.1
                    staticFriction 0.0
                  }
                  device [
                    RotationalMotor {
                      name "ArmUpperL"
                      maxVelocity 100.0
                      minPosition -2.82743338823
                      maxPosition 2.82743338823
                      maxTorque 1000.0
                    }
                    PositionSensor {
                      name "ArmUpperLS"
                    }
                  ]
                  endPoint Solid {
                    name "ArmUpperLSolid"
                    translation 0.019 0.0285 -0.01
                    contactMaterial IS contactMaterial
                    physics Physics {
                      density -1
                      mass 0.17758
                      centerOfMass -0.01844 0.04514 0.00028
                      inertiaMatrix [
                        0.00022804 3.042e-05 0.00023474 -1e-08 3e-08 5.9e-07
                      ]
                    }
                    boundingObject Pose {
                      translation -0.016800 0.045200 0.000700
                      children [
                        Box {
                          size 0.042400 0.112900 0.030100
                        }
                      ]
                    }
                    children [
                      Pose {
                        translation -0.002 0 0
                        rotation -0.57735 -0.577352 -0.57735 2.0944
                        children [
                          MX430ServoShape {
                          }
                        ]
                      }
                      Pose {
                        translation -0.002 0.09 0
                        rotation 0.57735 0.577352 -0.57735 2.0944
                        children [
                          MX430ServoShape {
                          }
                        ]
                      }
                      Pose {
                        translation -0.019 0.05441 -0.00037
                        children [
                          RobotisOp3SquaredFrameShape {
                          }
                        ]
                      }
                      HingeJoint {
                        jointParameters HingeJointParameters {
                          axis 1.0 0.0 0.0
                          anchor 0.0 0.0904 -0.0001
                          dampingConstant 0.1
                          staticFriction 0.0
                        }
                        device [
                          RotationalMotor {
                            name "ArmLowerL"
                            maxVelocity 100.0
                            minPosition -2.82743338823
                            maxPosition 2.82743338823
                            maxTorque 1000.0
                          }
                          PositionSensor {
                            name "ArmLowerLS"
                          }
                        ]
                        endPoint Solid {
                          name "ArmLowerLbowSolid"
                          translation 0.0 0.0904 -0.0001
                          contactMaterial IS handContactMaterial
                          physics Physics {
                            density -1
                            mass 0.04127
                            centerOfMass -0.019 0.07033 0.0038
                            inertiaMatrix [
                              6.196e-05 1.231e-05 6.854e-05 0.0 0.0 -3.72e-06
                            ]
                          }
                          boundingObject Pose {
                              translation -0.019000 0.072005 0.000000
                            children [
                              Box {
                                size 0.042000 0.149010 0.030000
                              }
                            ]
                          }
                          children [
                            Group {
                              children IS leftHandSlot
                            }
                            Pose {
                              translation -0.019 0.0552 0
                              children [
                                RobotisOp3LongFrameShape {
                                }
                                RobotisOp3ArmFrameShape {
                                }
                              ]
                            }
                            Pose {
                              translation -0.002 0 0
                              rotation 0 0 1 -1.5708
                              children [
                                MX430FrontRotorShape {
                                  screwA TRUE
                                  screwE TRUE
                                  screwF TRUE
                                  screwG TRUE
                                  screwH TRUE
                                }
                                MX430RearRotorShape {
                                  screwA TRUE
                                  screwB TRUE
                                  screwC TRUE
                                  screwD TRUE
                                  screwE TRUE
                                }
                              ]
                            }
                          ]
                        }
                      }
                    ]
                  }
                }
              ]
            }
          }
          HingeJoint {
            jointParameters HingeJointParameters {
              axis 0.0 -1.0 0.0
              anchor -0.001 -0.06 0.111
              dampingConstant 0.1
              staticFriction 0.0
            }
            device [
              RotationalMotor {
                name "ShoulderR"
                maxVelocity 100.0
                minPosition -2.82743338823
                maxPosition 2.82743338823
                maxTorque 1000.0
              }
              PositionSensor {
                name "ShoulderRS"
              }
            ]
            endPoint Solid {
              name "ShoulderRSolid"
              translation -0.001 -0.06 0.111
              contactMaterial IS contactMaterial
              physics Physics {
                density -1
                mass 0.01176
                centerOfMass 0.0 -0.00823 -0.00233
                inertiaMatrix [
                  1.65e-06 3.87e-06 3.97e-06 0.0 0.0 -3.1e-07
                ]
              }
              boundingObject Pose {
                translation 0.000000 -0.015500 -0.003750
                children [
                  Box {
                    size 0.042000 0.031000 0.032500
                  }
                ]
              }
              children [ # Right Shoulder Pitch Shape
                Pose {
                  rotation 0.57735 0.577352 -0.57735 2.0944
                  children [
                    Pose {
                      translation 0 0 -0.0025
                      rotation 1 0 0 1.5708
                      children [
                        MX430FrontRotorShape {
                          screwA TRUE
                          screwB TRUE
                          screwC TRUE
                          screwD TRUE
                          screwE TRUE
                          screwF TRUE
                          screwG TRUE
                          screwH TRUE
                        }
                      ]
                    }
                    Pose {
                      translation 0.01 0.017 0.029
                      children [
                        MX430RearRotorShape {
                          screwA TRUE
                          screwB TRUE
                          screwC TRUE
                          screwG TRUE
                          screwH TRUE
                        }
                        MX430FrontRotorShape {
                          screwA TRUE
                          screwB TRUE
                          screwC TRUE
                          screwG TRUE
                          screwH TRUE
                        }
                      ]
                    }
                    RobotisOp3ShiftedFrameShape {
                    }
                  ]
                }
                HingeJoint {
                  jointParameters HingeJointParameters {
                    axis -1.0 0.0 0.0
                    anchor 0.019 -0.0285 -0.01
                    dampingConstant 0.1
                    staticFriction 0.0
                  }
                  device [
                    RotationalMotor {
                      name "ArmUpperR"
                      maxVelocity 100.0
                      minPosition -2.82743338823
                      maxPosition 2.82743338823
                      maxTorque 1000.0
                    }
                    PositionSensor {
                      name "ArmUpperRS"
                    }
                  ]
                  endPoint Solid {
                    name "ArmUpperRSolid"
                    translation 0.019 -0.0285 -0.01
                    contactMaterial IS contactMaterial
                    physics Physics {
                      density -1
                      mass 0.17758
                      centerOfMass -0.01844 -0.04514 0.00028
                      inertiaMatrix [
                        0.00022804 3.042e-05 0.00023474 1e-08 3e-08 -5.9e-07
                      ]
                    }
                    boundingObject Pose {
                      translation -0.016800 -0.045200 0.000700
                      children [
                        Box {
                          size 0.042400 0.112900 0.030100
                        }
                      ]
                    }
                    children [
                      Pose {
                        translation -0.002 0 0
                        rotation 0.57735 0.577352 -0.57735 2.0944
                        children [
                          MX430ServoShape {
                          }
                        ]
                      }
                      Pose {
                        translation -0.002 -0.09 0
                        rotation -0.57735 -0.577352 -0.57735 2.0944
                        children [
                          MX430ServoShape {
                          }
                        ]
                      }
                      Pose {
                        translation -0.019 -0.05441 0.00037
                        rotation 0 0 1 3.1415
                        children [
                          RobotisOp3SquaredFrameShape {
                          }
                        ]
                      }
                      HingeJoint {
                        jointParameters HingeJointParameters {
                          axis 1.0 0.0 0.0
                          anchor 0.0 -0.0904 -0.0001
                          dampingConstant 0.1
                          staticFriction 0.0
                        }
                        device [
                          RotationalMotor {
                            name "ArmLowerR"
                            maxVelocity 100.0
                            minPosition -2.82743338823
                            maxPosition 2.82743338823
                            maxTorque 1000.0
                          }
                          PositionSensor {
                            name "ArmLowerRS"
                          }
                        ]
                        endPoint Solid {
                          name "ArmLowerRbowSolid"
                          translation 0.0 -0.0904 -0.0001
                          contactMaterial IS handContactMaterial
                          physics Physics {
                            density -1
                            mass 0.04127
                            centerOfMass -0.019 -0.07033 0.0038
                            inertiaMatrix [
                              6.196e-05 1.231e-05 6.854e-05 0.0 0.0 3.72e-06
                            ]
                          }
                          boundingObject Pose {
                            translation -0.019000 -0.072005 0.000000
                            children [
                              Box {
                                size 0.042000 0.149010 0.030000
                              }
                            ]
                          }
                          children [
                            Group {
                              children IS rightHandSlot
                            }
                            Pose {
                              translation -0.019 -0.0552 0
                              rotation 0 0 1 3.1415
                              children [
                                RobotisOp3LongFrameShape {
                                }
                                RobotisOp3ArmFrameShape {
                                }
                              ]
                            }
                            Pose {
                              translation -0.002 0 0
                              rotation 0 0 1 -1.5708
                              children [
                                MX430FrontRotorShape {
                                  screwA TRUE
                                  screwB TRUE
                                  screwC TRUE
                                  screwD TRUE
                                  screwE TRUE
                                }
                                MX430RearRotorShape {
                                  screwA TRUE
                                  screwE TRUE
                                  screwF TRUE
                                  screwG TRUE
                                  screwH TRUE
                                }
                              ]
                            }
                          ]
                        }
                      }
                    ]
                  }
                }
              ]
            }
          }
          HingeJoint {
            jointParameters HingeJointParameters {
              axis 0.0 0.0 1.0
              anchor -0.001 0.0 0.1365
              dampingConstant 0.1
              staticFriction 0.0
            }
            device [
              RotationalMotor {
                name "Neck"
                maxVelocity 100.0
                minPosition -2.82743338823
                maxPosition 2.82743338823
                maxTorque 1000.0
              }
              PositionSensor {
                name "NeckS"
              }
            ]
            endPoint Solid {
              name "NeckSolid"
              translation -0.001 0.0 0.1365
              contactMaterial IS contactMaterial
              physics Physics {
                density -1
                mass 0.01176
                centerOfMass 0.00233 0.0 0.00823
                inertiaMatrix [
                  3.97e-06 1.65e-06 3.87e-06 0.0 -3.1e-07 0.0
                ]
              }
              boundingObject Pose {
                translation 0.003750 0.000000 0.015500
                children [
                  Box {
                    size 0.032500 0.042000 0.031000
                  }
                ]
              }
              children [
                Group {
                  children [ # Head Pan Shape
                    Pose {
                      translation 0 0 -0.0025
                      rotation 1 0 0 1.5708
                      children [
                        MX430FrontRotorShape {
                          screwA TRUE
                          screwB TRUE
                          screwC TRUE
                          screwD TRUE
                          screwE TRUE
                          screwF TRUE
                          screwG TRUE
                          screwH TRUE
                        }
                      ]
                    }
                    Pose {
                      translation 0.01 0.017 0.029
                      children [
                        MX430RearRotorShape {
                          screwA TRUE
                          screwB TRUE
                          screwC TRUE
                          screwG TRUE
                          screwH TRUE
                        }
                        MX430FrontRotorShape {
                          screwA TRUE
                          screwB TRUE
                          screwC TRUE
                          screwG TRUE
                          screwH TRUE
                        }
                      ]
                    }
                    RobotisOp3ShiftedFrameShape {
                    }
                  ]
                }
                HingeJoint {
                  jointParameters HingeJointParameters {
                    axis 0.0 -1.0 0.0
                    anchor 0.01 0.019 0.0285
                    dampingConstant 0.1
                    staticFriction 0.0
                  }
                  device [
                    RotationalMotor {
                      name "Head"
                      maxVelocity 100.0
                      minPosition -2.82743338823
                      maxPosition 2.82743338823
                      maxTorque 1000.0
                    }
                    PositionSensor {
                      name "HeadS"
                    }
                  ]
                  endPoint Solid {
                    name "HeadSolid"
                    translation 0.01 0.019 0.0285
                    contactMaterial IS contactMaterial
                    physics Physics {
                      density -1
                      mass 0.13631
                      centerOfMass 0.0023 -0.01863 0.0277
                      inertiaMatrix [
                        0.00010612 8.721e-05 4.529e-05 1.1e-07 -9.1e-06 8.4e-07
                      ]
                    }
                    boundingObject Pose {
                      translation 0.006000 -0.019000 0.027750
                      children [
                        Box {
                          size 0.044500 0.094000 0.078000
                        }
                      ]
                    }
                    children [
                      Group {
                        children IS headSlot
                      }
                      RobotisOp3HeadShape {
                      }
                      LED {
                        name "HeadLed"
                        color [
                          0.1 0.5 1
                        ]
                        children [
                          RobotisOp3HeadLEDShape {
                          }
                        ]
                      }
                      Camera {
                        translation 0.015348 -0.019 0.04975
                        rotation -0.594812 0.757033 0.270369 -0.000011
                        name "Camera"
                        fieldOfView 1.3613
                        width IS cameraWidth
                        height IS cameraHeight
                      }
                    ]
                  }
                }
              ]
            }
          }
        ]
      }
    ]
    boundingObject Box{
      size 0.01 0.01 0.01
    }
    physics Physics {
    }
  }
}