#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 RUarmSolid [ field SFVec3f translation 0 0 0 field SFRotation rotation 0 1 0 0 ] { Solid { translation IS translation rotation IS rotation children [ RUarmMesh { } ] name "RUarm" boundingObject Group { children [ Transform { translation 0 -0.0583385 0 rotation 1.0 0.0 0.0 3.14079632679 children [ Cylinder { radius 0.0449 height 0.116677 } ] } Transform { translation 0 -0.1205235 0.00912975 rotation 0.577196954996 0.577656775505 -0.577196954996 2.09393540394 children [ Cylinder { radius 0.04504847 height 0.088934 } ] } ] } physics Physics { density -1 mass 1.881 centerOfMass 0.007 -0.114 0.008 inertiaMatrix [0.002 0.003 0.003, 0 0 0 ] } } }