#VRML_SIM V6.0 utf8
WorldInfo {
  info [
    "Description: Oncilla Robot - www.amarsi-project.eu"
    "Author: Yvan Bourquin - www.cyberbotics.com - Alexandre Tuleu"
    "Date: 01 July 2012"
  ]
  title "AMARSi Oncilla"
  physics "liboncilla-webots-plugin"
  basicTimeStep 2
  displayRefresh 20
}
Viewpoint {
  orientation -0.0678013 0.996688 0.0449093 1.17315
  position 0.562556 0.196564 0.371909
}
Background {
  skyColor [
    0.4 0.7 1
  ]
}
DirectionalLight {
  ambientIntensity 1
  direction 0.5 -2 2
}
PointLight {
  ambientIntensity 1
  location 0.1 0.5 0.3
}
DEF ONCILLA Supervisor {
  translation 0 0.22 0
  children [
    DEF LEFT_FORE_L_0 Servo {
      translation 0.175 0 -0.069
      rotation 1 0 0 0
      children [
        DEF LEFT_FORE_L_1 Servo {
          translation -0.0625 0 0
          rotation 0 0 1 0.142241
          children [
            DEF LEFT_FORE_P_1 Servo {
              translation 0 -0.0465 0.005
              rotation 0 0 1 -0.467557
              children [
                DEF LEFT_FORE_L_3 Servo {
                  translation 0 -0.055 -0.005
                  rotation 0 0 1 0.467557
                  children [
                    DEF FORE_L_3_GROUP Group {
                      children [
                        DEF FORE_L_3_LINK Transform {
                          translation 0 -0.0385 0
                          rotation 0 0 1 0
                          children [
                            Shape {
                              appearance DEF METAL Appearance {
                                material Material {
                                  diffuseColor 0.45098 0.45098 0.45098
                                  specularColor 0.870588 0.870588 0.870588
                                }
                              }
                              geometry Box {
                                size 0.01 0.0775 0.006
                              }
                            }
                          ]
                        }
                        DEF L_3_TOP_CYLINDER Transform {
                          rotation 1 0 0 1.5708
                          children [
                            DEF L_3_CYL_SHAPE Shape {
                              appearance USE METAL
                              geometry Cylinder {
                                height 0.0061
                                radius 0.005
                              }
                            }
                          ]
                        }
                        DEF FORE_L_3_BOTTOM_CYLINDER Transform {
                          translation 0 -0.0775 0
                          rotation 1 0 0 1.5708
                          children [
                            USE L_3_CYL_SHAPE
                          ]
                        }
                      ]
                    }
                    DEF LEFT_FORE_FOOT Solid {
                      translation 0 -0.0775 0
                      children [
                        DEF FOOT_BOUND Group {
                          children [
                            Transform {
                              rotation 1 0 0 -1.5708
                              children [
                                Shape {
                                  appearance DEF WHITE_PLASTIC Appearance {
                                    material Material {
                                      diffuseColor 1 1 0.905882
                                    }
                                  }
                                  geometry Cylinder {
                                    height 0.02101
                                    radius 0.007
                                  }
                                }
                              ]
                            }
                          ]
                        }
                      ]
                      name "LEFT_FORE_FOOT"
                      boundingObject USE FOOT_BOUND
                      physics DEF FOOT_PHYSICS Physics {
                      }
                    }
                  ]
                  name "LEFT_FORE_L_3"
                  boundingObject USE FORE_L_3_LINK
                  physics DEF FORE_L_3_PHYSICS Physics {
                    centerOfMass 0 -0.0385 0
                  }
                  maxForce 0
                  dampingConstant 0.0001
                }
                DEF FORE_P_1_LINK Transform {
                  translation 0 -0.0275 0
                  children [
                    Shape {
                      appearance DEF CARBON Appearance {
                        material Material {
                          diffuseColor 0.466667 0.466667 0.466667
                          specularColor 0.741176 0.741176 0.741176
                        }
                        texture ImageTexture {
                          url [
                            "textures/carbon.png"
                          ]
                        }
                      }
                      geometry Box {
                        size 0.006 0.055 0.0015
                      }
                    }
                  ]
                }
                DEF P_1_TOP_CYLINDER Transform {
                  rotation 1 0 0 1.5708
                  children [
                    DEF P_1_CYL_SHAPE Shape {
                      appearance USE CARBON
                      geometry Cylinder {
                        height 0.00151
                        radius 0.003
                      }
                    }
                  ]
                }
                DEF FORE_P_1_BOTTOM_CYLINDER Transform {
                  translation 0 -0.055 0
                  rotation 1 0 0 1.5708
                  children [
                    USE P_1_CYL_SHAPE
                  ]
                }
              ]
              name "LEFT_FORE_P_1"
              boundingObject USE FORE_P_1_LINK
              physics DEF FORE_P_1_PHYSICS Physics {
                centerOfMass 0 -0.0275 0
              }
              maxForce 0
              dampingConstant 0.0001
            }
            DEF LEFT_FORE_D_1 Servo {
              translation 0 -0.0465 -0.0175
              rotation 0 0 1 -0.366417
              children [
                DEF D_1_GROUP Group {
                  children [
                    DEF D_1_LINK Transform {
                      translation 0 -0.00775 0
                      children [
                        Shape {
                          appearance USE WHITE_PLASTIC
                          geometry Box {
                            size 0.011 0.0155 0.011
                          }
                        }
                      ]
                    }
                    DEF D_1_CYL Transform {
                      rotation 1 0 0 1.5708
                      children [
                        DEF D_1_CYL_SHAPE Shape {
                          appearance USE WHITE_PLASTIC
                          geometry Cylinder {
                            height 0.01101
                            radius 0.0055
                          }
                        }
                      ]
                    }
                  ]
                }
                DEF LEFT_FORE_D_2 Servo {
                  translation 0 -0.056 0
                  rotation 1 0 0 -1.5708
                  children [
                    DEF D_2_GROUP Group {
                      children [
                        DEF D_2_LINK Transform {
                          children [
                            Shape {
                              appearance USE WHITE_PLASTIC
                              geometry Box {
                                size 0.011 0.011 0.027
                              }
                            }
                          ]
                        }
                        DEF D_2_CYL_BOTTOM Transform {
                          translation 0 0 -0.0135
                          children [
                            Shape {
                              appearance USE WHITE_PLASTIC
                              geometry Cylinder {
                                height 0.01101
                                radius 0.0055
                              }
                            }
                          ]
                        }
                        DEF D_2_PIN Transform {
                          translation 0 0 0.03
                          rotation 1 0 0 1.5708
                          children [
                            Shape {
                              appearance USE METAL
                              geometry Cylinder {
                                height 0.06
                                radius 0.0015
                              }
                            }
                          ]
                        }
                      ]
                    }
                  ]
                  name "LEFT_FORE_D_2"
                  boundingObject USE D_2_LINK
                  physics DEF D_2_PHYSICS Physics {
                  }
                  type "linear"
                  maxForce 0
                  maxPosition 0.033
                  minStop -0.001
                  maxStop 0.0331
                }
              ]
              name "LEFT_FORE_D_1"
              boundingObject USE D_1_LINK
              physics DEF D1_PHYSICS Physics {
                centerOfMass 0 -0.008 0
              }
              maxForce 0
              dampingConstant 0.02
            }
            DEF LEFT_FORE_L_1_BOUND Group {
              children [
                Transform {
                  translation 0 0 -0.03
                  rotation 1 0 0 1.5708
                  children [
                    Shape {
                      appearance USE WHITE_PLASTIC
                      geometry Cylinder {
                        height 0.038
                        radius 0.018
                      }
                    }
                  ]
                }
                Transform {
                  translation 0 0 0.0125
                  rotation 1 0 0 1.5708
                  children [
                    Shape {
                      appearance USE WHITE_PLASTIC
                      geometry Cylinder {
                        height 0.047
                        radius 0.013
                      }
                    }
                  ]
                }
                Transform {
                  translation 0 -0.031 0
                  children [
                    Shape {
                      appearance USE WHITE_PLASTIC
                      geometry Box {
                        size 0.015 0.062 0.006
                      }
                    }
                  ]
                }
              ]
            }
            DEF LEFT_FORE_L_1_GROUP Group {
              children [
                Transform {
                  translation 0 0 -0.048
                  rotation 1 0 0 1.5708
                  children [
                    Shape {
                      appearance DEF BLACK_PLASTIC Appearance {
                        material Material {
                          diffuseColor 0.117647 0.117647 0.117647
                          specularColor 0.262745 0.25098 0.25098
                        }
                      }
                      geometry Cylinder {
                        height 0.003
                        radius 0.019
                      }
                    }
                  ]
                }
                Transform {
                  translation 0 -0.062 0
                  rotation 1 0 0 1.5708
                  children [
                    Shape {
                      appearance USE WHITE_PLASTIC
                      geometry Cylinder {
                        height 0.0061
                        radius 0.0075
                      }
                    }
                  ]
                }
              ]
            }
            DEF LEFT_FORE_L_2 Servo {
              translation 0 -0.062 0
              rotation 0 0 1 -0.467557
              children [
                DEF FORE_L2_BOUND Group {
                  children [
                    Transform {
                      translation 0.002 -0.0275 0.008
                      children [
                        DEF FORE_L2_LINK Shape {
                          appearance USE WHITE_PLASTIC
                          geometry Box {
                            size 0.008 0.055 0.007
                          }
                        }
                      ]
                    }
                    Transform {
                      translation 0.002 -0.0275 -0.008
                      children [
                        USE FORE_L2_LINK
                      ]
                    }
                    Transform {
                      translation 0.002 -0.0275 0
                      children [
                        Shape {
                          appearance USE WHITE_PLASTIC
                          geometry Box {
                            size 0.008 0.039 0.009
                          }
                        }
                      ]
                    }
                  ]
                }
                DEF FORE_L2_CYLS Transform {
                  rotation 1 0 0 1.5708
                  children [
                    DEF L2_TOP_CYLS Group {
                      children [
                        Transform {
                          translation 0 0.008 0
                          children [
                            DEF L2_CYL_SHAPE Shape {
                              appearance USE WHITE_PLASTIC
                              geometry Cylinder {
                                height 0.0071
                                radius 0.006
                              }
                            }
                          ]
                        }
                        Transform {
                          translation 0 -0.008 0
                          children [
                            DEF L2_CYL_SHAPE Shape {
                              appearance USE WHITE_PLASTIC
                              geometry Cylinder {
                                height 0.0071
                                radius 0.006
                              }
                            }
                          ]
                        }
                      ]
                    }
                    Transform {
                      translation 0 0 0.055
                      children [
                        USE L2_TOP_CYLS
                      ]
                    }
                  ]
                }
              ]
              name "LEFT_FORE_L_2"
              boundingObject USE FORE_L2_BOUND
              physics DEF FORE_L_2_PHYSICS Physics {
                centerOfMass 0 -0.0275 0
              }
              maxForce 0
              minPosition -1.248
              minStop -1.249
              dampingConstant 0.002
            }
          ]
          name "LEFT_FORE_L_1"
          boundingObject USE LEFT_FORE_L_1_BOUND
          physics DEF LEFT_L_1_PHYSICS Physics {
            density -1
            mass 0.24
            centerOfMass 0 0 0.021
          }
          controlP 50
          minPosition -0.872665
          maxPosition 0.872665
          minStop -0.873665
          maxStop 0.873665
        }
        DEF LEFT_L_0_GROUP Group {
          children [
            Transform {
              translation 0 0 0.01875
              children [
                Shape {
                  appearance DEF CARBON Appearance {
                    material Material {
                      diffuseColor 0.466667 0.466667 0.466667
                      specularColor 0.741176 0.741176 0.741176
                    }
                    texture ImageTexture {
                      url [
                        "textures/carbon.png"
                      ]
                    }
                  }
                  geometry Box {
                    size 0.0015 0.035 0.0545
                  }
                }
              ]
            }
            Transform {
              translation -0.0815 0 0.02875
              children [
                Shape {
                  appearance USE CARBON
                  geometry Box {
                    size 0.0015 0.035 0.0345
                  }
                }
              ]
            }
            Transform {
              translation -0.0565 0 0.011
              children [
                Shape {
                  appearance USE CARBON
                  geometry Box {
                    size 0.113 0.035 0.0015
                  }
                }
              ]
            }
            Transform {
              translation -0.04 0 0.0455
              children [
                Shape {
                  appearance USE CARBON
                  geometry Box {
                    size 0.08 0.035 0.0015
                  }
                }
              ]
            }
            Transform {
              translation -0.117 0 0.003
              children [
                Shape {
                  geometry Box {
                    size 0.015 0.012 0.015
                  }
                }
              ]
            }
            DEF LEFT_L_1_MOTOR Transform {
              translation -0.023 0 0.055
              rotation 1 0 0 1.5708
              children [
                DEF L_0_MOTOR_SHAPE Shape {
                  appearance USE METAL
                  geometry Cylinder {
                    height 0.091
                    radius 0.011
                  }
                }
              ]
            }
          ]
        }
      ]
      name "LEFT_FORE_L_0"
      boundingObject DEF LEFT_L_0_BOUND Group {
        children [
          USE LEFT_L_1_MOTOR
          Transform {
            translation -0.04 0 0.02875
            children [
              Box {
                size 0.08 0.035 0.0345
              }
            ]
          }
        ]
      }
      physics DEF LEFT_L_0_PHYSICS Physics {
        density -1
        mass 0.238
        centerOfMass -0.023 0 0.053
      }
    }
    DEF RIGHT_FORE_L_0 Servo {
      translation 0.175 0 0.069
      rotation 1 0 0 0
      children [
        DEF RIGHT_FORE_L_1 Servo {
          translation -0.0625 0 -0.001
          rotation 0 0 1 0.142241
          children [
            DEF RIGHT_FORE_P_1 Servo {
              translation 0 -0.0465 -0.005
              rotation 0 0 1 -0.467557
              children [
                DEF RIGHT_FORE_L_3 Servo {
                  translation 0 -0.055 0.005
                  rotation 0 0 1 0.467557
                  children [
                    USE FORE_L_3_GROUP
                    DEF RIGHT_FORE_FOOT Solid {
                      translation 0 -0.0775 0
                      children [
                        USE FOOT_BOUND
                      ]
                      name "RIGHT_FORE_FOOT"
                      boundingObject USE FOOT_BOUND
                      physics USE FOOT_PHYSICS
                    }
                  ]
                  name "RIGHT_FORE_L_3"
                  boundingObject USE FORE_L_3_LINK
                  physics USE FORE_L_3_PHYSICS
                  maxForce 0
                  dampingConstant 0.0001
                }
                USE FORE_P_1_LINK
                USE FORE_P_1_BOTTOM_CYLINDER
                USE FORE_P_1_BOTTOM_CYLINDER
              ]
              name "RIGHT_FORE_P_1"
              boundingObject USE FORE_P_1_LINK
              physics USE FORE_P_1_PHYSICS
              maxForce 0
              dampingConstant 0.0001
            }
            DEF RIGHT_FORE_D_1 Servo {
              translation 0 -0.0465 0.0175
              rotation 0 0 1 -0.366417
              children [
                USE D_1_GROUP
                DEF RIGHT_FORE_D_2 Servo {
                  translation 0 -0.056 0
                  rotation 1 0 0 -1.5708
                  children [
                    USE D_2_GROUP
                  ]
                  name "RIGHT_FORE_D_2"
                  boundingObject USE D_2_LINK
                  physics USE D_2_PHYSICS
                  type "linear"
                  maxForce 0
                  maxPosition 0.033
                  minStop -0.001
                  maxStop 0.0331
                }
              ]
              name "RIGHT_FORE_D_1"
              boundingObject USE D_1_LINK
              physics USE D1_PHYSICS
              maxForce 0
              dampingConstant 0.02
            }
            DEF RIGHT_FORE_L_1_BOUND Group {
              children [
                Transform {
                  translation 0 0 0.03
                  rotation 1 0 0 1.5708
                  children [
                    Shape {
                      appearance USE WHITE_PLASTIC
                      geometry Cylinder {
                        height 0.038
                        radius 0.018
                      }
                    }
                  ]
                }
                Transform {
                  translation 0 0 -0.0125
                  rotation 1 0 0 1.5708
                  children [
                    Shape {
                      appearance USE WHITE_PLASTIC
                      geometry Cylinder {
                        height 0.047
                        radius 0.013
                      }
                    }
                  ]
                }
                Transform {
                  translation 0 -0.031 0
                  children [
                    Shape {
                      appearance USE WHITE_PLASTIC
                      geometry Box {
                        size 0.015 0.062 0.006
                      }
                    }
                  ]
                }
              ]
            }
            DEF RIGHT_FORE_L_1_GROUP Group {
              children [
                Transform {
                  translation 0 0 0.048
                  rotation 1 0 0 1.5708
                  children [
                    Shape {
                      appearance DEF BLACK_PLASTIC Appearance {
                        material Material {
                          diffuseColor 0.117647 0.117647 0.117647
                          specularColor 0.262745 0.25098 0.25098
                        }
                      }
                      geometry Cylinder {
                        height 0.003
                        radius 0.019
                      }
                    }
                  ]
                }
                Transform {
                  translation 0 -0.062 0
                  rotation 1 0 0 1.5708
                  children [
                    Shape {
                      appearance USE WHITE_PLASTIC
                      geometry Cylinder {
                        height 0.0061
                        radius 0.0075
                      }
                    }
                  ]
                }
              ]
            }
            DEF RIGHT_FORE_L_2 Servo {
              translation 0 -0.062 0
              rotation 0 0 1 -0.467557
              children [
                USE FORE_L2_BOUND
                USE FORE_L2_CYLS
              ]
              name "RIGHT_FORE_L_2"
              boundingObject USE FORE_L2_BOUND
              physics USE FORE_L_2_PHYSICS
              maxForce 0
              minPosition -1.248
              minStop -1.249
              maxStop 0.001
              dampingConstant 0.002
            }
          ]
          name "RIGHT_FORE_L_1"
          boundingObject USE RIGHT_FORE_L_1_BOUND
          physics DEF RIGHT_L_1_PHYSICS Physics {
            density -1
            mass 0.24
            centerOfMass 0 0 -0.021
          }
          controlP 50
          minPosition -0.872665
          maxPosition 0.872665
          minStop -0.873665
          maxStop 0.873665
        }
        DEF RIGHT_L0_GROUP Group {
          children [
            Transform {
              translation -0.125 0 -0.01875
              children [
                Shape {
                  appearance DEF CARBON Appearance {
                    material Material {
                      diffuseColor 0.466667 0.466667 0.466667
                      specularColor 0.741176 0.741176 0.741176
                    }
                    texture ImageTexture {
                      url [
                        "textures/carbon.png"
                      ]
                    }
                  }
                  geometry Box {
                    size 0.0015 0.035 0.0545
                  }
                }
              ]
            }
            Transform {
              translation -0.0435 0 -0.02875
              children [
                Shape {
                  appearance USE CARBON
                  geometry Box {
                    size 0.0015 0.035 0.0345
                  }
                }
              ]
            }
            Transform {
              translation -0.068 0 -0.011
              children [
                Shape {
                  appearance USE CARBON
                  geometry Box {
                    size 0.113 0.035 0.0015
                  }
                }
              ]
            }
            Transform {
              translation -0.085 0 -0.0455
              children [
                Shape {
                  appearance USE CARBON
                  geometry Box {
                    size 0.08 0.035 0.0015
                  }
                }
              ]
            }
            Transform {
              translation -0.008 0 -0.003
              children [
                Shape {
                  geometry Box {
                    size 0.015 0.012 0.015
                  }
                }
              ]
            }
            DEF RIGHT_L_1_MOTOR Transform {
              translation -0.102 0 -0.055
              rotation 1 0 0 1.5708
              children [
                DEF L_0_MOTOR_SHAPE Shape {
                  appearance DEF METAL Appearance {
                    material Material {
                      diffuseColor 0.45098 0.45098 0.45098
                      specularColor 0.870588 0.870588 0.870588
                    }
                  }
                  geometry Cylinder {
                    height 0.091
                    radius 0.011
                  }
                }
              ]
            }
          ]
        }
      ]
      name "RIGHT_FORE_L_0"
      boundingObject DEF RIGHT_L_0_BOUND Group {
        children [
          USE RIGHT_L_1_MOTOR
          Transform {
            translation -0.085 0 -0.02875
            children [
              Box {
                size 0.08 0.035 0.0345
              }
            ]
          }
        ]
      }
      physics DEF RIGHT_L0_PHYSICS Physics {
        density -1
        mass 0.238
        centerOfMass -0.102 0 -0.053
      }
    }
    DEF LEFT_HIND_L_0 Servo {
      translation -0.05 0 -0.069
      rotation 1 0 0 0
      children [
        DEF LEFT_HIND_L_1 Servo {
          translation -0.0625 0 0.001
          rotation 0 0 1 0.1923
          children [
            DEF LEFT_HIND_P_1 Servo {
              translation 0 -0.0645 0.005
              rotation 0 0 1 -0.600477
              children [
                DEF LEFT_HIND_L_3 Servo {
                  translation 0 -0.065 -0.005
                  rotation 0 0 1 0.600477
                  children [
                    DEF HIND_L_3_GROUP Group {
                      children [
                        USE L_3_TOP_CYLINDER
                        DEF HIND_L_3_LINK Transform {
                          translation 0 -0.03525 0
                          children [
                            Shape {
                              appearance USE METAL
                              geometry Box {
                                size 0.01 0.0705 0.006
                              }
                            }
                          ]
                        }
                        Transform {
                          translation 0 -0.0705 0
                          rotation 1 0 0 1.5708
                          children [
                            USE L_3_CYL_SHAPE
                          ]
                        }
                      ]
                    }
                    DEF LEFT_HIND_FOOT Solid {
                      translation 0 -0.0705 0
                      children [
                        USE FOOT_BOUND
                      ]
                      name "LEFT_HIND_FOOT"
                      boundingObject DEF FOOT_BOUND Group {
                        children [
                          Transform {
                            rotation 1 0 0 -1.5708
                            children [
                              Shape {
                                appearance USE WHITE_PLASTIC
                                geometry Cylinder {
                                  height 0.02101
                                  radius 0.007
                                }
                              }
                            ]
                          }
                        ]
                      }
                      physics USE FOOT_PHYSICS
                    }
                  ]
                  name "LEFT_HIND_L_3"
                  boundingObject USE HIND_L_3_LINK
                  physics DEF HIND_L_3_PHYSICS Physics {
                    centerOfMass 0 -0.03525 0
                  }
                  maxForce 0
                  dampingConstant 0.001
                }
                DEF HIND_P_1_LINK Transform {
                  translation 0 -0.0325 0
                  children [
                    Shape {
                      appearance DEF CARBON Appearance {
                        material Material {
                          diffuseColor 0.466667 0.466667 0.466667
                          specularColor 0.741176 0.741176 0.741176
                        }
                        texture ImageTexture {
                          url [
                            "textures/carbon.png"
                          ]
                        }
                      }
                      geometry Box {
                        size 0.006 0.065 0.0015
                      }
                    }
                  ]
                }
                DEF P_1_TOP_CYLINDER Transform {
                  rotation 1 0 0 1.5708
                  children [
                    DEF P_1_CYL_SHAPE Shape {
                      appearance USE CARBON
                      geometry Cylinder {
                        height 0.00151
                        radius 0.003
                      }
                    }
                  ]
                }
                DEF HIND_P_1_BOTTOM_CYLINDER Transform {
                  translation 0 -0.065 0
                  rotation 1 0 0 1.5708
                  children [
                    USE P_1_CYL_SHAPE
                  ]
                }
              ]
              name "LEFT_HIND_P_1"
              boundingObject USE HIND_P_1_LINK
              physics DEF HIND_P_1_PHYSICS Physics {
                centerOfMass 0 -0.0325 0
              }
              maxForce 0
              dampingConstant 0.001
            }
            DEF LEFT_HIND_D_1 Servo {
              translation 0 -0.0645 -0.0175
              rotation 0 0 1 -0.488361
              children [
                USE D_1_GROUP
                DEF LEFT_HIND_D_2 Servo {
                  translation 0 -0.065 0
                  rotation 1 0 0 -1.5708
                  children [
                    USE D_2_GROUP
                  ]
                  name "LEFT_HIND_D_2"
                  boundingObject USE D_2_LINK
                  physics USE D_2_PHYSICS
                  type "linear"
                  maxForce 0
                  maxPosition 0.033
                  minStop -0.001
                  maxStop 0.0331
                  dampingConstant 5
                }
              ]
              name "LEFT_HIND_D_1"
              boundingObject USE D_1_LINK
              physics USE D1_PHYSICS
              maxForce 0
              dampingConstant 0.02
            }
            DEF LEFT_HIND_L_1_BOUND Group {
              children [
                Transform {
                  translation 0 0 -0.03
                  rotation 1 0 0 1.5708
                  children [
                    Shape {
                      appearance USE WHITE_PLASTIC
                      geometry Cylinder {
                        height 0.038
                        radius 0.018
                      }
                    }
                  ]
                }
                Transform {
                  translation 0 0 0.0125
                  rotation 1 0 0 1.5708
                  children [
                    Shape {
                      appearance USE WHITE_PLASTIC
                      geometry Cylinder {
                        height 0.047
                        radius 0.013
                      }
                    }
                  ]
                }
                Transform {
                  translation 0 -0.04 0
                  children [
                    Shape {
                      appearance USE WHITE_PLASTIC
                      geometry Box {
                        size 0.015 0.08 0.006
                      }
                    }
                  ]
                }
              ]
            }
            DEF LEFT_HIND_L_1_GROUP Group {
              children [
                Transform {
                  translation 0 0 -0.048
                  rotation 1 0 0 1.5708
                  children [
                    Shape {
                      appearance DEF BLACK_PLASTIC Appearance {
                        material Material {
                          diffuseColor 0.117647 0.117647 0.117647
                          specularColor 0.262745 0.25098 0.25098
                        }
                      }
                      geometry Cylinder {
                        height 0.003
                        radius 0.019
                      }
                    }
                  ]
                }
                Transform {
                  translation 0 -0.08 0
                  rotation 1 0 0 1.5708
                  children [
                    Shape {
                      appearance USE WHITE_PLASTIC
                      geometry Cylinder {
                        height 0.0061
                        radius 0.0075
                      }
                    }
                  ]
                }
              ]
            }
            DEF LEFT_HIND_L_2 Servo {
              translation 0 -0.08 0
              rotation 0 0 1 -0.600477
              children [
                DEF HIND_L2_BOUND Group {
                  children [
                    Transform {
                      translation 0.002 -0.0325 0.008
                      children [
                        DEF HIND_L2_LINK Shape {
                          appearance USE WHITE_PLASTIC
                          geometry Box {
                            size 0.008 0.065 0.007
                          }
                        }
                      ]
                    }
                    Transform {
                      translation 0.002 -0.0325 -0.008
                      children [
                        USE HIND_L2_LINK
                      ]
                    }
                    Transform {
                      translation 0.002 -0.0325 0
                      children [
                        Shape {
                          appearance USE WHITE_PLASTIC
                          geometry Box {
                            size 0.008 0.049 0.009
                          }
                        }
                      ]
                    }
                  ]
                }
                DEF HIND_L2_CYLS Transform {
                  rotation 1 0 0 1.5708
                  children [
                    USE L2_TOP_CYLS
                    Transform {
                      translation 0 0 0.065
                      children [
                        USE L2_TOP_CYLS
                      ]
                    }
                  ]
                }
              ]
              name "LEFT_HIND_L_2"
              boundingObject USE HIND_L2_BOUND
              physics DEF HIND_L_2_PHYSICS Physics {
                centerOfMass 0 -0.0325 0
              }
              maxForce 0
              minPosition -1.587
              minStop -1.587
              maxStop 0.001
              dampingConstant 0.005
            }
          ]
          name "LEFT_HIND_L_1"
          boundingObject USE LEFT_HIND_L_1_BOUND
          physics USE LEFT_L_1_PHYSICS
          controlP 50
          minPosition -0.872665
          maxPosition 0.872665
          minStop -0.873665
          maxStop 0.873665
        }
        USE LEFT_L_0_GROUP
      ]
      name "LEFT_HIND_L_0"
      boundingObject USE LEFT_L_0_BOUND
      physics USE LEFT_L_0_PHYSICS
    }
    DEF RIGHT_HIND_L_0 Servo {
      translation -0.05 0 0.069
      rotation 1 0 0 0
      children [
        DEF RIGHT_HIND_L_1 Servo {
          translation -0.0625 0 -0.001
          rotation 0 0 1 0.1923
          children [
            DEF RIGHT_HIND_P_1 Servo {
              translation 0 -0.0645 -0.005
              rotation 0 0 1 -0.600477
              children [
                DEF RIGHT_HIND_L_3 Servo {
                  translation 0 -0.065 0.005
                  rotation 0 0 1 0.600477
                  children [
                    USE HIND_L_3_GROUP
                    DEF RIGHT_HIND_FOOT Solid {
                      translation 0 -0.0705 0
                      children [
                        USE FOOT_BOUND
                      ]
                      name "RIGHT_HIND_FOOT"
                      boundingObject USE FOOT_BOUND
                      physics USE FOOT_PHYSICS
                    }
                  ]
                  name "RIGHT_HIND_L_3"
                  boundingObject USE HIND_L_3_LINK
                  physics USE HIND_L_3_PHYSICS
                  maxForce 0
                  dampingConstant 0.001
                }
                USE P_1_TOP_CYLINDER
                USE HIND_P_1_LINK
                USE HIND_P_1_BOTTOM_CYLINDER
              ]
              name "RIGHT_HIND_P_1"
              boundingObject USE HIND_P_1_LINK
              physics USE HIND_P_1_PHYSICS
              maxForce 0
              dampingConstant 0.001
            }
            DEF RIGHT_HIND_D_1 Servo {
              translation 0 -0.0645 0.0175
              rotation 0 0 1 -0.488361
              children [
                USE D_1_GROUP
                DEF RIGHT_HIND_D_2 Servo {
                  translation 0 -0.065 0
                  rotation 1 0 0 -1.5708
                  children [
                    USE D_2_GROUP
                  ]
                  name "RIGHT_HIND_D_2"
                  boundingObject USE D_2_LINK
                  physics USE D_2_PHYSICS
                  type "linear"
                  maxForce 0
                  maxPosition 0.033
                  minStop -0.001
                  maxStop 0.0331
                  dampingConstant 5
                }
              ]
              name "RIGHT_HIND_D_1"
              boundingObject USE D_1_LINK
              physics USE D1_PHYSICS
              maxForce 0
              dampingConstant 0.02
            }
            DEF RIGHT_HIND_L_1_BOUND Group {
              children [
                Transform {
                  translation 0 0 0.03
                  rotation 1 0 0 1.5708
                  children [
                    Shape {
                      appearance USE WHITE_PLASTIC
                      geometry Cylinder {
                        height 0.038
                        radius 0.018
                      }
                    }
                  ]
                }
                Transform {
                  translation 0 0 -0.0125
                  rotation 1 0 0 1.5708
                  children [
                    Shape {
                      appearance USE WHITE_PLASTIC
                      geometry Cylinder {
                        height 0.047
                        radius 0.013
                      }
                    }
                  ]
                }
                Transform {
                  translation 0 -0.04 0
                  children [
                    Shape {
                      appearance USE WHITE_PLASTIC
                      geometry Box {
                        size 0.015 0.08 0.006
                      }
                    }
                  ]
                }
              ]
            }
            DEF RIGHT_HIND_L_1_GROUP Group {
              children [
                Transform {
                  translation 0 0 0.048
                  rotation 1 0 0 1.5708
                  children [
                    Shape {
                      appearance DEF BLACK_PLASTIC Appearance {
                        material Material {
                          diffuseColor 0.117647 0.117647 0.117647
                          specularColor 0.262745 0.25098 0.25098
                        }
                      }
                      geometry Cylinder {
                        height 0.003
                        radius 0.019
                      }
                    }
                  ]
                }
                Transform {
                  translation 0 -0.08 0
                  rotation 1 0 0 1.5708
                  children [
                    Shape {
                      appearance USE WHITE_PLASTIC
                      geometry Cylinder {
                        height 0.0061
                        radius 0.0075
                      }
                    }
                  ]
                }
              ]
            }
            DEF RIGHT_HIND_L_2 Servo {
              translation 0 -0.08 0
              rotation 0 0 1 -0.600477
              children [
                USE HIND_L2_BOUND
                USE HIND_L2_CYLS
              ]
              name "RIGHT_HIND_L_2"
              boundingObject USE HIND_L2_BOUND
              physics USE HIND_L_2_PHYSICS
              maxForce 0
              minPosition -1.587
              minStop -1.588
              dampingConstant 0.005
            }
          ]
          name "RIGHT_HIND_L_1"
          boundingObject USE RIGHT_HIND_L_1_BOUND
          physics USE RIGHT_L_1_PHYSICS
          controlP 50
          minPosition -0.872665
          maxPosition 0.872665
          minStop -0.873665
          maxStop 0.873665
        }
        USE RIGHT_L0_GROUP
      ]
      name "RIGHT_HIND_L_0"
      boundingObject USE RIGHT_L_0_BOUND
      physics USE RIGHT_L0_PHYSICS
    }
    DEF TRUNK_SHAPE Transform {
      children [
        DEF TRUNK_CBN_SHAPE Transform {
          children [
            Transform {
              translation 0.10825 0.035 0
              children [
                DEF TRUNK_BAR_HZ Shape {
                  appearance USE CARBON
                  geometry Box {
                    size 0.1415 0.01 0.022
                  }
                }
              ]
            }
            Transform {
              translation 0.10825 -0.035 0
              children [
                USE TRUNK_BAR_HZ
              ]
            }
            Transform {
              translation -0.10825 -0.035 0
              children [
                USE TRUNK_BAR_HZ
              ]
            }
            Transform {
              translation -0.10825 0.035 0
              children [
                USE TRUNK_BAR_HZ
              ]
            }
            Transform {
              translation 0.17325 0 0
              children [
                Shape {
                  appearance USE CARBON
                  geometry Box {
                    size 0.0115 0.06 0.022
                  }
                }
              ]
            }
            Transform {
              translation -0.17325 0 0
              children [
                Shape {
                  appearance USE CARBON
                  geometry Box {
                    size 0.0115 0.06 0.022
                  }
                }
              ]
            }
            Transform {
              translation 0.0525 0 0
              children [
                Shape {
                  appearance USE CARBON
                  geometry Box {
                    size 0.01 0.06 0.022
                  }
                }
              ]
            }
            Transform {
              translation -0.0525 0 0
              children [
                Shape {
                  appearance USE CARBON
                  geometry Box {
                    size 0.01 0.06 0.022
                  }
                }
              ]
            }
            Transform {
              translation 0 -0.0175 0
              children [
                Shape {
                  appearance USE CARBON
                  geometry Box {
                    size 0.075 0.135 0.002
                  }
                }
              ]
            }
            Transform {
              translation 0.0575 0.0675 0
              children [
                Shape {
                  appearance USE CARBON
                  geometry Box {
                    size 0.01 0.055 0.002
                  }
                }
              ]
            }
            Transform {
              translation -0.0575 0.0675 0
              children [
                Shape {
                  appearance USE CARBON
                  geometry Box {
                    size 0.01 0.055 0.002
                  }
                }
              ]
            }
            Transform {
              translation 0 0.1 0
              children [
                Shape {
                  appearance USE CARBON
                  geometry Box {
                    size 0.125 0.01 0.002
                  }
                }
              ]
            }
            Transform {
              translation 0.178249 0 0
              children [
                DEF EXT_BUMPER_SHAPE Transform {
                  children [
                    Transform {
                      children [
                        Shape {
                          appearance USE CARBON
                          geometry Box {
                            size 0.0015 0.019 0.152
                          }
                        }
                      ]
                    }
                    Transform {
                      translation 0.00575 0 0.064
                      children [
                        DEF BUMPER_END_SHAPE Shape {
                          appearance USE METAL
                          geometry Box {
                            size 0.01 0.01901 0.02401
                          }
                        }
                      ]
                    }
                    Transform {
                      translation 0.00575 0 -0.064
                      children [
                        USE BUMPER_END_SHAPE
                      ]
                    }
                  ]
                }
              ]
            }
            Transform {
              translation -0.17824 0 0
              rotation 0 0 1 3.14159
              children [
                USE EXT_BUMPER_SHAPE
              ]
            }
            Transform {
              translation 0.0425 0 0
              children [
                DEF INT_BUMP_SHAPE Transform {
                  children [
                    Transform {
                      children [
                        Shape {
                          appearance USE METAL
                          geometry Box {
                            size 0.00995 0.01 0.15
                          }
                        }
                      ]
                    }
                    Transform {
                      translation 0 0 0.064
                      children [
                        USE BUMPER_END_SHAPE
                      ]
                    }
                    Transform {
                      translation 0 0 -0.064
                      children [
                        USE BUMPER_END_SHAPE
                      ]
                    }
                  ]
                }
              ]
            }
            Transform {
              translation -0.0425 0 0
              children [
                USE INT_BUMP_SHAPE
              ]
            }
            Transform {
              translation 0 0.103 0
              rotation 0 0 1 1.5708
              children [
                Shape {
                  appearance USE WHITE_PLASTIC
                  geometry Cylinder {
                    height 0.1
                    radius 0.007
                  }
                }
              ]
            }
          ]
        }
        DEF CIRCUITS_GROUP Transform {
          translation 0 -0.0175 0
          children [
            DEF MDV_BOARD_1 Transform {
              translation 0 0 -0.006
              children [
                DEF MDV_BOARD_SHAPE Group {
                  children [
                    DEF MDV_PCB_SHAPE Transform {
                      children [
                        Shape {
                          appearance Appearance {
                            texture ImageTexture {
                              url [
                                "textures/pcb.jpg"
                              ]
                            }
                          }
                          geometry Box {
                            size 0.06 0.134 0.0015
                          }
                        }
                      ]
                    }
                    DEF MDV_BOARD_CONNECTOR Transform {
                      translation 0 0.071 -0.003
                      children [
                        DEF MDVV_BOARD_CONNECTOR Shape {
                          appearance DEF BLACK_PLASTIC Appearance {
                            material Material {
                              diffuseColor 0.117647 0.117647 0.117647
                              specularColor 0.262745 0.25098 0.25098
                            }
                          }
                          geometry Box {
                            size 0.042 0.009 0.009
                          }
                        }
                      ]
                    }
                  ]
                }
              ]
            }
            DEF MDV_BOARD_2 Transform {
              translation 0 0 -0.016
              children [
                DEF MDV_BOARD_SHAPE Group {
                  children [
                    DEF MDV_PCB_SHAPE Transform {
                      children [
                        Shape {
                          appearance Appearance {
                            texture ImageTexture {
                              url [
                                "textures/pcb.jpg"
                              ]
                            }
                          }
                          geometry Box {
                            size 0.06 0.134 0.0015
                          }
                        }
                      ]
                    }
                    DEF MDV_BOARD_CONNECTOR Transform {
                      translation 0 0.071 -0.003
                      children [
                        DEF MDVV_BOARD_CONNECTOR Shape {
                          appearance USE BLACK_PLASTIC
                          geometry Box {
                            size 0.042 0.009 0.009
                          }
                        }
                      ]
                    }
                  ]
                }
              ]
            }
            DEF MDV_BOARD_3 Transform {
              translation 0 0 0.006
              rotation 0 1 0 -9.42478
              children [
                DEF MDV_BOARD_SHAPE Group {
                  children [
                    DEF MDV_PCB_SHAPE Transform {
                      children [
                        Shape {
                          appearance Appearance {
                            texture ImageTexture {
                              url [
                                "textures/pcb.jpg"
                              ]
                            }
                          }
                          geometry Box {
                            size 0.06 0.134 0.0015
                          }
                        }
                      ]
                    }
                    DEF MDV_BOARD_CONNECTOR Transform {
                      translation 0 0.071 -0.003
                      children [
                        DEF MDVV_BOARD_CONNECTOR Shape {
                          appearance USE BLACK_PLASTIC
                          geometry Box {
                            size 0.042 0.009 0.009
                          }
                        }
                      ]
                    }
                  ]
                }
              ]
            }
            DEF MDV_BOARD_4 Transform {
              translation 0 0 0.016
              rotation 0 1 0 3.14159
              children [
                DEF MDV_BOARD_SHAPE Group {
                  children [
                    DEF MDV_PCB_SHAPE Transform {
                      children [
                        Shape {
                          appearance Appearance {
                            texture ImageTexture {
                              url [
                                "textures/pcb.jpg"
                              ]
                            }
                          }
                          geometry Box {
                            size 0.06 0.134 0.0015
                          }
                        }
                      ]
                    }
                    DEF MDV_BOARD_CONNECTOR Transform {
                      translation 0 0.071 -0.003
                      children [
                        DEF MDVV_BOARD_CONNECTOR Shape {
                          appearance USE BLACK_PLASTIC
                          geometry Box {
                            size 0.042 0.009 0.009
                          }
                        }
                      ]
                    }
                  ]
                }
              ]
            }
          ]
        }
        DEF RIGHT_FORE_SERVO Transform {
          translation 0.1015 -0.0685 0.0115
          children [
            DEF SERVO_SHAPE Group {
              children [
                Shape {
                  appearance USE BLACK_PLASTIC
                  geometry Box {
                    size 0.038 0.041 0.02
                  }
                }
                Shape {
                  appearance USE BLACK_PLASTIC
                  geometry Box {
                    size 0.025 0.057 0.0199
                  }
                }
                Transform {
                  translation 0.023 0.011 0
                  rotation 0 0 1 1.5708
                  children [
                    Shape {
                      appearance DEF BLUE_METAL Appearance {
                        material Material {
                          diffuseColor 0 0.482353 1
                          shininess 0.12
                          specularColor 0 1 0.988235
                        }
                      }
                      geometry Cylinder {
                        height 0.002
                        radius 0.01
                      }
                    }
                    Transform {
                      translation 0 0.002 0
                      children [
                        Shape {
                          appearance USE BLUE_METAL
                          geometry Cylinder {
                            height 0.004
                            radius 0.005
                          }
                        }
                      ]
                    }
                    Transform {
                      translation 0 -0.004 0
                      children [
                        Shape {
                          appearance USE WHITE_PLASTIC
                          geometry Cylinder {
                            height 0.006
                            radius 0.01
                          }
                        }
                      ]
                    }
                    Transform {
                      translation 0.025 -0.01 0.008
                      rotation 0 1 0 -0.1
                      children [
                        Shape {
                          appearance USE WHITE_PLASTIC
                          geometry Box {
                            size 0.04 0.006 0.012
                          }
                        }
                        Transform {
                          translation -0.02 0 0
                          children [
                            Shape {
                              appearance USE WHITE_PLASTIC
                              geometry Cylinder {
                                height 0.0059
                                radius 0.006
                              }
                            }
                          ]
                        }
                        Transform {
                          translation 0.02 0 0
                          children [
                            Shape {
                              appearance USE WHITE_PLASTIC
                              geometry Cylinder {
                                height 0.0059
                                radius 0.006
                              }
                            }
                          ]
                        }
                      ]
                    }
                  ]
                }
              ]
            }
          ]
        }
        DEF LEFT_FORE_SERVO Transform {
          translation 0.1215 -0.0685 -0.0115
          rotation 0 1 0 3.14159
          children [
            USE SERVO_SHAPE
          ]
        }
        DEF RIGHT_HIND_SERVO Transform {
          translation -0.1215 -0.0685 0.0115
          children [
            USE SERVO_SHAPE
          ]
        }
        DEF LEFT_HIND_SERVO Transform {
          translation -0.1015 -0.0685 -0.0115
          rotation 0 1 0 3.14159
          children [
            USE SERVO_SHAPE
          ]
        }
      ]
    }
  ]
  boundingObject DEF TRUNK_BOUNDARIES Group {
    children [
      Transform {
        translation 0 -0.0285 0
        children [
          Box {
            size 0.358 0.137 0.022
          }
        ]
      }
    ]
  }
  physics DEF TRUNK_PHYSICS Physics {
    density -1
    mass 1.05
    centerOfMass 0 -0.035 0
  }
  controller "TestController"
}
DEF GROUND Solid {
  translation 0 -0.1 0
  children [
    DEF FLOOR_SHAPE Shape {
      appearance Appearance {
        material Material {
        }
        texture ImageTexture {
          url [
            "textures/floor.jpg"
          ]
        }
        textureTransform TextureTransform {
          scale 200 200
        }
      }
      geometry Box {
        size 40 0.2 40
      }
    }
  ]
  boundingObject USE FLOOR_SHAPE
}
DEF STAND Solid {
  translation 0 0.06 0
  children [
    DEF STAND_SHAPE Shape {
      geometry Box {
        size 0.4 0.12 0.05
      }
    }
  ]
  boundingObject USE STAND_SHAPE
}