<?xml version="1.0" ?>
<robot name="cassie">

  <group name="whole_body">
    <joint name="root_joint" />
    <joint name="left-roll-op" />
    <joint name="left-yaw-op" />
    <joint name="left-pitch-op" />
    <joint name="left-knee-op" />
    <joint name="left-knee-shin-joint" />
    <joint name="left-shin-tarsus-joint" />
    <joint name="left-tarsus-spring-joint" />
    <joint name="left-achilles-spring-joint" />
    <joint name="left-tarsus-crank-joint" />
    <joint name="left-crank-rod-joint1" />
    <joint name="left-foot-op" />
    <joint name="right-roll-op" />
    <joint name="right-yaw-op" />
    <joint name="right-pitch-op" />
    <joint name="right-knee-op" />
    <joint name="right-knee-shin-joint" />
    <joint name="right-shin-tarsus-joint" />
    <joint name="right-tarsus-spring-joint" />
    <joint name="right-achilles-spring-joint" />
    <joint name="right-tarsus-crank-joint" />
    <joint name="right-crank-rod-joint" />
    <joint name="right-foot-op" />
  </group>



<group_state name="standing" group="whole_body">
  <joint name="root_joint"                  value="-5.27093838e-01 -2.76381629e-04  9.39151616e-01  9.61380040e-06  9.38217754e-04  2.14890379e-05  9.99999560e-01"/>
  <joint name="left-roll-ip"                value="-0.01295769"/>
  <joint name="left-roll-joint"             value="0.01295123"/>
  <joint name="left-yaw-ip"                 value="0.01484168"/>
  <joint name="left-yaw-joint"              value="-0.01488228"/>
  <joint name="left-pitch-ip"               value="1.5890490074366923"/>
  <joint name="left-pitch-joint"            value="-1.39665541"/>
  <joint name="left-pitch-rod-joint"        value=" 0.00604391  0.00460982 -0.0835031   0.99647853"/>
  <joint name="left-achilles-spring-joint"  value="3.4570118e-08"/>
  <joint name="left-knee-ip"                value="1.40316539"/>
  <joint name="left-knee-joint"             value="-1.6305735"/>
  <joint name="left-knee-spring-joint"      value="-5.11663898e-06"/>
  <joint name="left-knee-shin-joint"        value="-5.11663898e-06"/>
  <joint name="left-shin-tarsus-joint"      value="0.6929022"/>
  <joint name="left-tarsus-spring-joint"    value="-0.63338278"/>
  <joint name="left-tarsus-crank-joint"     value="-1.75141719"/>
  <joint name="left-crank-rod-joint"        value="1.75140759"/>
  <joint name="left-plantar-foot-joint"     value=" 1.11717507e-13 -2.82102963e-06 -7.68002342e-01  6.40447034e-01"/>
  <joint name="left-foot-ip"                value="1.42120011"/>
  <joint name="left-foot-joint"             value="-3.17264196"/>
  <joint name="left-foot-op"                value="-1.75144185"/>
  <joint name="left-shin-spring-joint"      value="-1.79084209e-07"/>
  <joint name="left-knee-op"                value="-0.22740812"/>
  <joint name="left-pitch-op"               value="0.19239359743669127"/>
  <joint name="left-yaw-op"                 value="-4.059968e-05"/>
  <joint name="left-roll-op"                value="-6.46156049e-06"/>
  <joint name="right-roll-ip"               value="-0.01295208"/>
  <joint name="right-roll-joint"            value="0.01317795"/>
  <joint name="right-yaw-ip"                value="0.01658614"/>
  <joint name="right-yaw-joint"             value="-0.0166263"/>
  <joint name="right-pitch-ip"              value="1.5912251274366866"/>
  <joint name="right-pitch-joint"           value="-1.39653428"/>
  <joint name="right-pitch-rod-joint"       value="-0.00604403 -0.0046093  -0.08350479  0.99647839"/>
  <joint name="right-achilles-spring-joint" value="-1.63406124e-14"/>
  <joint name="right-knee-ip"               value="1.40275306"/>
  <joint name="right-knee-joint"            value="-1.63016464"/>
  <joint name="right-knee-spring-joint"     value="-7.87499336e-06"/>
  <joint name="right-knee-shin-joint"       value="-7.87499336e-06"/>
  <joint name="right-shin-tarsus-joint"     value="0.69293781"/>
  <joint name="right-tarsus-spring-joint"   value="-0.63341554"/>
  <joint name="right-tarsus-crank-joint"    value="-1.75391974"/>
  <joint name="right-crank-rod-joint"       value="1.75706331"/>
  <joint name="right-plantar-foot-joint"    value="-4.83732315e-14 -2.80375818e-06 -7.63300126e-01  6.46044053e-01"/>
  <joint name="right-foot-ip"               value="1.39961783"/>
  <joint name="right-foot-joint"            value="-3.13328631"/>
  <joint name="right-foot-op"               value="-1.73366848"/>
  <joint name="right-shin-spring-joint"     value="-2.75627693e-07"/>
  <joint name="right-knee-op"               value="-0.22741158"/>
  <joint name="right-pitch-op"              value="0.1946908474366893"/>
  <joint name="right-yaw-op"                value="-4.01635934e-05"/>
  <joint name="right-roll-op"               value="0.00022586"/>
</group_state>
</robot>
