| 24 | |

| 25 | Full configuration of a real robot http://robotik.dfki-bremen.de/de/forschung/projekte/csurvey.html: |

| 26 | - dynamic_transform "uw_portal.rigid_body_state","mounting" => "world" |

| 27 | - static_transform(Eigen::Vector3.new(0.0,0.0,3.0),Eigen::Quaternion.from_euler(Eigen::Vector3.new(Math::PI,0,0),2,1,0),"body" => "mounting") |

| 28 | - static_transform( Eigen::Vector3.new(0.281,0.0,0.0),Eigen::Quaternion.from_euler(Eigen::Vector3.new(0,0,0),2,1,0),"body_joint" => "body") |

| 29 | - static_transform(Eigen::Vector3.new(0.0,0.0,0.0),Eigen::Quaternion.from_euler(Eigen::Vector3.new(Math::PI,0,0),2,1,0),"shoulder" => "body_joint") |

| 30 | - static_transform( Eigen::Vector3.new(0.22,0.0,0.0),Eigen::Quaternion.from_euler(Eigen::Vector3.new(0,0,0),2,1,0),"shoulder_joint" => "shoulder") |

| 31 | - static_transform(Eigen::Vector3.new(0.0,0.0,0.0),Eigen::Quaternion.from_euler(Eigen::Vector3.new(Math::PI,0.5*Math::PI,0),2,1,0),"head" => "shoulder_joint") |

| 32 | - static_transform( Eigen::Vector3.new(0.08,0.0,0.09),Eigen::Quaternion.from_euler(Eigen::Vector3.new(-0.5*Math::PI,0,-0.5*Math::PI),2,1,0),"camera" =>"head") |