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63 lines
1.4 KiB
Protocol Buffer
63 lines
1.4 KiB
Protocol Buffer
#VRML_SIM R2021a utf8
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# license: Copyright Cyberbotics Ltd. Licensed for use only with Webots.
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# license url: https://cyberbotics.com/webots_assets_license
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# tags: hidden
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# Extracted from:
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# https://bitbucket.org/osrf/drcsim/src/c69ecab26a55/ros/atlas_description/urdf/atlas_simple_shapes.urdf
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PROTO LScapSolid [
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field SFVec3f translation 0 0 0
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field SFRotation rotation 0 1 0 0
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]
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{
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Solid {
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translation IS translation
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rotation IS rotation
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children [
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LScapMesh {
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}
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]
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name "LScap"
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boundingObject Group {
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children [
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Transform {
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translation 0 0.118521 0
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rotation 1.0 0.0 0.0 3.14079632679
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children [
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Cylinder {
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radius 0.0418405
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height 0.137492
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}
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]
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}
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Transform {
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translation -0.0884125 0 0
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rotation 0.577196954996 0.577656775505 -0.577196954996 2.09393540394
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children [
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Cylinder {
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radius 0.048709
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height 0.013937
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}
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]
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}
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Transform {
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translation 0.0847565 0 0
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rotation 0.577196954996 0.577656775505 -0.577196954996 2.09393540394
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children [
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Cylinder {
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radius 0.048709
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height 0.013737
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}
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]
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}
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]
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}
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physics Physics {
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density -1
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mass 2.707
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centerOfMass -0.002 0.108 0
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inertiaMatrix [0.01 0.005 0.013, 0 0 0 ]
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}
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}
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}
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