cd ~/catkin_ws/src
catkin_create_pkg world_create_tutorial drcsim_gazebo
cd world_create_tutorial
mkdir worlds launch

<launch>

  <arg name="gzname" default="gazebo"/>
  <arg name="gzworld" default="$(find world_create_tutorial)/worlds/myworld.world"/>
  <arg name="hand_suffix" default=""/>
  <arg name="extra_gazebo_args" default="-q" />
  <arg name="model_args" default="" />
  <arg name="inertia_args" default="" /> <!-- _with_v1_inertia -->

  <param name="/atlas/time_to_unpin" type="double" value="1.0"/>
  <param name="/atlas/startup_mode" type="string" value="bdi_stand"/>

  <!-- start gazebo with the Atlas -->
  <include file="$(find drcsim_gazebo)/launch/atlas_no_controllers.launch">
    <arg name="gzname" value="$(arg gzname)"/>
    <arg name="gzworld" value="$(arg gzworld)"/>
    <arg name="extra_gazebo_args" value="$(arg extra_gazebo_args)"/>
  </include>

  <!-- to trigger synchronization delay, set
       atlas_msgs::AtlasCommand::desired_controller_period_ms to non-zero -->
  <param name="/atlas/delay_window_size" type="double" value="5.0"/>
  <param name="/atlas/delay_max_per_window" type="double" value="0.25"/>
  <param name="/atlas/delay_max_per_step" type="double" value="0.025"/>

  <!-- Robot Description -->
  <param name="robot_description" command="$(find xacro)/xacro.py '$(find atlas_description)/robots/atlas$(arg model_args)$(arg inertia_args)$(arg hand_suffix).urdf.xacro'" />
  <param name="robot_initial_pose/x"     value="0" type="double"/>
  <param name="robot_initial_pose/y"     value="0" type="double"/>
  <param name="robot_initial_pose/z"     value="0.90" type="double"/>
  <param name="robot_initial_pose/roll"  value="0" type="double"/>
  <param name="robot_initial_pose/pitch" value="0" type="double"/>
  <param name="robot_initial_pose/yaw"   value="0" type="double"/>

  <include file="$(find drcsim_gazebo)/launch/atlas$(arg hand_suffix)_bringup.launch">
    <arg name="model_args" value="$(arg model_args)"/>
  </include>
</launch>

gazebo

<plugin filename="libVRCPlugin.so" name="vrc_plugin">
  <atlas>
    <model_name>atlas</model_name>
    <pin_link>utorso</pin_link>
  </atlas>
  <drc_vehicle>
    <model_name>golf_cart</model_name>
    <seat_link>chassis</seat_link>
  </drc_vehicle>
  <drc_fire_hose>
    <fire_hose_model>fire_hose</fire_hose_model>
    <coupling_link>coupling</coupling_link>
    <standpipe_model>standpipe</standpipe_model>
    <spout_link>standpipe</spout_link>
    <thread_pitch>-1000</thread_pitch>
    <coupling_relative_pose>1.17038e-05 -0.125623 0.35 -0.0412152 -1.57078 1.61199</coupling_relative_pose>
  </drc_fire_hose>
</plugin>

roslaunch world_create_tutorial atlas.launch