#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 MtorsoSolid [
  field SFVec3f    translation 0 0 0
  field SFRotation rotation  0 1 0 0
]
{
Solid {
  translation IS translation
  rotation IS rotation
  children [
    MtorsoMesh {
    }
  ]
  name "Mtorso"
  boundingObject Group {
    children [
      Transform {
        translation 0 0 0
        rotation 1.0 0.0 0.0 3.14079632679
        children [
          Cylinder {
            radius 0.017
            height 0.03
          }
        ]
      }
      Transform {
        translation 0.0285 0 0.05
        rotation 0.577196954996 0.577656775505 -0.577196954996 2.09393540394
        children [
          Cylinder {
            radius 0.015
            height 0.02
          }
        ]
      }
      Transform {
        translation -0.0285 0 0.05
        rotation 0.577196954996 0.577656775505 -0.577196954996 2.09393540394
        children [
          Cylinder {
            radius 0.015
            height 0.02
          }
        ]
      }
    ]
  }
  physics Physics {
    density -1
    mass 0.55
    centerOfMass -0.00816266 -0.0131245 0.0305974
    inertiaMatrix [0.000454181 0.000483282 0.000444215, -6.10764e-05 3.94009e-05 5.27463e-05 ]
  }
}
}