#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 UtorsoSolid [
  field SFVec3f    translation 0 0 0
  field SFRotation rotation  0 1 0 0
]
{
Solid {
  translation IS translation
  rotation IS rotation
  children [
    UtorsoMesh {
    }
  ]
  name "Utorso"
  boundingObject Group {
    children [
      Transform {
        translation 0.0446 0 0.1869
        rotation 0.0 1.0 0.0 0.0
        children [
          Box {
            size 0.3188 0.24 0.3162
          }
        ]
      }
      Transform {
        translation 0.024 0.16 0.18
        rotation 1.0 0.0 0.0 1.0464
        children [
          Cylinder {
            radius 0.0363
            height 0.22375
          }
        ]
      }
      Transform {
        translation 0.024 -0.16 0.18
        rotation 1.0 0.0 0.0 2.0936
        children [
          Cylinder {
            radius 0.0363
            height 0.22375
          }
        ]
      }
    ]
  }
  physics Physics {
    density -1
    mass 18.484
    centerOfMass 0.02 -0.001 0.211
    inertiaMatrix [0.395 1.089 0.327, 0 0.083 -0.003 ]
  }
}
}