- name: "atlas"
  frame-id: "pelvis"
  robot: true
  use_robot_description: true
  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
