#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 LUglutSolid [ field SFVec3f translation 0 0 0 field SFRotation rotation 0 1 0 0 ] { Solid { translation IS translation rotation IS rotation children [ LUglutMesh { } ] name "LUglut" boundingObject Group { children [ Transform { translation 0 0 0 rotation 0.577196954996 0.577656775505 -0.577196954996 2.09393540394 children [ Cylinder { radius 0.019096 height 0.078396 } ] } Transform { translation 0 0 0 rotation 1.0 0.0 0.0 1.57 children [ Cylinder { radius 0.019841 height 0.080842 } ] } ] } physics Physics { density -1 mass 0.5166 centerOfMass 0.00529262 -0.00344732 0.00313046 inertiaMatrix [0.00074276 0.000688179 0.00041242, -3.79607e-08 -2.79549e-05 -3.2735e-08 ] } } }