ROBOT DATA


0.360950 -3.484909 0.249996 0.707107 0.707107 0.000001 0.000000   % Front right wheel
0.360948 -2.514910 0.249996 0.707107 0.707107 0.000001 0.000000   % Front Left Wheel
-0.389050 -3.484911 0.249996 0.707107 0.707107 0.000001 0.000000  % Back right wheel
-0.389052 -2.514911 0.249996 0.707107 0.707107 0.000001 0.000000  % Back left wheel
-0.014051 -2.999910 0.249992 1.000000 -0.000000 0.000000 0.000001 % Base
-0.014051 -2.999910 0.749981 1.000000 0.000000 0.000000 0.000001  % Main body
-0.013758 -2.999910 1.250271 0.999999 -0.000000 0.001169 0.000001 % Neck              % initial position
0.111827 -2.999909 1.499977 0.999999 0.000000 0.001169 0.000001   % Head
-0.014050 -3.249910 0.999977 1.000000 0.000001 0.000001 0.000001  % Right shoulder
-0.013877 -3.749967 0.999973 1.000000 0.000002 0.000001 0.000230  % Right upper arm
-0.011713 -4.500567 0.999968 0.999996 0.000003 0.000001 0.002654  % Right elbow
-0.014051 -2.749910 0.999977 1.000000 -0.000001 0.000001 0.000001 % Left shoulder
-0.014054 -2.249910 0.999973 1.000000 -0.000002 0.000000 0.000003 % Left upper arm
-0.014060 -1.499911 0.999968 1.000000 -0.000002 0.000000 0.000006 % Left elbow





0.360425 -3.485165 0.249994 0.707106 0.707107 -0.000173 -0.000176
0.360904 -2.515165 0.249995 0.707106 0.707108 -0.000173 -0.000176
-0.389575 -3.484794 0.249997 0.707106 0.707107 -0.000173 -0.000176
-0.389096 -2.514794 0.249998 0.707106 0.707108 -0.000173 -0.000176
-0.014335 -2.999979 0.249992 1.000000 0.000001 0.000004 -0.000247
-0.014331 -2.999981 0.749981 1.000000 0.000002 0.000005 -0.000247
-0.014090 -2.999983 1.250214 1.000000 0.000002 0.000946 -0.000247
0.111383 -3.000046 1.499976 1.000000 0.000002 0.000946 -0.000247	% Left arm straight
-0.014452 -3.249982 0.999976 1.000000 0.000003 0.000012 -0.000247
-0.014527 -3.750039 0.999970 1.000000 0.000004 0.000011 -0.000018
-0.012734 -4.500640 0.999963 0.999997 0.000004 0.000011 0.002406
-0.014205 -2.749982 0.999978 1.000000 0.000001 0.000405 -0.000247
0.440941 -2.407570 0.999608 0.793054 -0.000246 0.000322 -0.609152
1.165575 -2.214168 0.999019 0.793055 -0.000247 0.000322 -0.609150



0.330064 -3.529322 0.249995 0.706892 0.706889 -0.017479 -0.017485
0.378013 -2.560508 0.249993 0.706892 0.706890 -0.017479 -0.017485
-0.419019 -3.492249 0.249998 0.706892 0.706890 -0.017479 -0.017485
-0.371071 -2.523435 0.249996 0.706892 0.706890 -0.017478 -0.017485
-0.020503 -3.026379 0.249992 0.999694 -0.000002 0.000004 -0.024723
-0.020498 -3.026377 0.749981 0.999694 -0.000002 0.000005 -0.024723
-0.020203 -3.026389 1.250268 0.999694 0.000026 0.001163 -0.024723	% right arm straight
0.105225 -3.032595 1.499975 0.999694 0.000026 0.001163 -0.024723
-0.032853 -3.276070 0.999978 0.999694 0.000004 0.000236 -0.024723
0.454065 -3.550771 0.999740 0.724645 0.000170 0.000165 0.689122
1.203810 -3.586650 0.999384 0.722972 0.000171 0.000164 0.690877
-0.008137 -2.776681 0.999976 0.999694 -0.000004 0.000006 -0.024723
0.016576 -2.277293 0.999969 0.999694 -0.000005 0.000005 -0.024721
0.053644 -1.528210 0.999960 0.999694 -0.000005 0.000005 -0.024718





0.345287 -3.498730 0.249993 0.707063 0.707062 -0.007934 -0.007945
0.367068 -2.528975 0.249993 0.707062 0.707062 -0.007934 -0.007945
-0.404524 -3.481889 0.249998 0.707062 0.707062 -0.007934 -0.007945
-0.382743 -2.512134 0.249998 0.707062 0.707062 -0.007934 -0.007945
-0.018728 -3.005432 0.249992 0.999937 -0.000000 0.000007 -0.011228
-0.018719 -3.005432 0.749981 0.999937 -0.000000 0.000009 -0.011228
-0.018435 -3.005438 1.250254 0.999936 0.000012 0.001109 -0.011228
0.107087 -3.008257 1.499974 0.999936 0.000012 0.001109 -0.011228
-0.024329 -3.255368 0.999977 0.999937 0.000009 0.000714 -0.011228     % left + right elbow + left and right arm
0.343897 -3.692502 0.999434 0.879092 0.000356 0.000620 0.476651
1.119772 -3.753896 0.998321 0.544511 0.000609 0.000375 0.838753
-0.013101 -2.755495 0.999977 0.999937 0.000005 0.000578 -0.011228
0.330140 -2.301935 0.999588 0.900828 -0.000241 0.000526 -0.434176
1.093756 -2.213720 0.998705 0.534686 -0.000483 0.000319 -0.845050


0.358245 -3.490550 0.249994 0.707104 0.707103 -0.002068 -0.002075
0.363927 -2.520567 0.249994 0.707104 0.707104 -0.002068 -0.002075
-0.391742 -3.486156 0.249997 0.707104 0.707104 -0.002068 -0.002075
-0.386060 -2.516173 0.249997 0.707104 0.707104 -0.002068 -0.002075
-0.013908 -3.003362 0.249992 0.999996 -0.000000 0.000004 -0.002929
-0.013902 -3.003361 0.749981 0.999996 -0.000000 0.000006 -0.002929
-0.013628 -3.003363 1.250247 0.999995 0.000003 0.001077 -0.002929	% same as above rotated in the botom
0.111908 -3.004098 1.499975 0.999995 0.000003 0.001078 -0.002929
-0.015364 -3.253357 0.999977 0.933029 0.001055 0.359789 -0.002733
0.177698 -3.749376 0.822441 0.880185 0.121357 0.338707 0.309556
0.698592 -3.825547 0.350143 0.403829 0.325253 0.153819 0.841114
-0.012435 -2.753366 0.999977 0.953583 0.000881 0.301114 -0.002794
0.169876 -2.245494 0.874173 0.915408 -0.082658 0.289549 -0.267129
0.735340 -2.091846 0.478141 0.458733 -0.263132 0.146398 -0.835998