engine-software/simulation/atlas/protos/LUlegSolid.proto

#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 ]
  }
}
}