- name: "atlas_visualization"
  model: "package://hrpsys_gazebo_atlas/build/atlas_v3.jsk.urdf"
  frame-id: "pelvis"
  mode: "visualization"
  scale: 1.0
  pose: 
    position: 
        x: 0.0
        y: 0.0
        z: 0.0
    orientation: 
        x: 0.0
        y: 0.0
        z: 0.0
        w: 1.0
