#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 LUlegSolid [ field SFVec3f translation 0 0 0 field SFRotation rotation 0 1 0 0 ] { Solid { translation IS translation rotation IS rotation children [ LUlegMesh { } ] name "LUleg" boundingObject Group { children [ Transform { translation -0.0179 0.02085 -0.13 rotation 1.0 0.0 0.0 1.57 children [ Cylinder { radius 0.1 height 0.10 } ] } Transform { translation -0.03 0.01 -0.23 rotation 0.97789509712 -0.147912128259 0.147794388741 1.59235120797 children [ Cylinder { radius 0.07 height 0.15 } ] } Transform { translation -0.005 0.01 -0.23 rotation 0.97789509712 0.147912128259 -0.147794388741 1.59235120797 children [ Cylinder { radius 0.07 height 0.15 } ] } Transform { translation -0.02 0.03 -0.23 rotation 1.0 0.0 0.0 1.32 children [ Cylinder { radius 0.07 height 0.15 } ] } ] } physics Physics { density -1 mass 7.34 centerOfMass 0 0 -0.21 inertiaMatrix [0.09 0.09 0.02, 0 0 0 ] } } }