#VRML_SIM R2021a utf8
# license: Copyright Cyberbotics Ltd. Licensed for use only with Webots.
# license url: https://cyberbotics.com/webots_assets_license
# tags: hidden
# Extracted from:
# https://bitbucket.org/osrf/drcsim/src/c69ecab26a55/ros/atlas_description/urdf/atlas_simple_shapes.urdf

PROTO RScapSolid [
  field SFVec3f    translation 0 0 0
  field SFRotation rotation  0 1 0 0
]
{
Solid {
  translation IS translation
  rotation IS rotation
  children [
    RScapMesh {
    }
  ]
  name "RScap"
  boundingObject Group {
    children [
      Transform {
        translation 0 -0.118521 0
        rotation 1.0 0.0 0.0 3.14079632679
        children [
          Cylinder {
            radius 0.0418405
            height 0.137492
          }
        ]
      }
      Transform {
        translation -0.0884125 0 0
        rotation 0.577196954996 0.577656775505 -0.577196954996 2.09393540394
        children [
          Cylinder {
            radius 0.048709
            height 0.013937
          }
        ]
      }
      Transform {
        translation 0.0847565 0 0
        rotation 0.577196954996 0.577656775505 -0.577196954996 2.09393540394
        children [
          Cylinder {
            radius 0.048709
            height 0.013737
          }
        ]
      }
    ]
  }
  physics Physics {
    density -1
    mass 2.707
    centerOfMass -0.002 -0.108 0
    inertiaMatrix [0.01 0.005 0.013, 0 0 0 ]
  }
}
}