engine-software/simulation/atlas/protos/PelvisSolid.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 PelvisSolid [
  field SFVec3f    translation 0 0 0
  field SFRotation rotation  0 1 0 0
]
{
Solid {
  translation IS translation
  rotation IS rotation
  children [
    PelvisMesh {
    }
  ]
  name "pelvis"
  boundingObject Group {
    children [
      Transform {
        translation 0.046 0.0 -0.02
        rotation 1.0 0.0 0.0 3.14079632679
        children [
          Cylinder {
            radius 0.092
            height 0.03
          }
        ]
      }
      Transform {
        translation -0.03 0.0 -0.02
        rotation 1.0 0.0 0.0 3.14079632679
        children [
          Cylinder {
            radius 0.092
            height 0.03
          }
        ]
      }
      Transform {
        translation 0 0.042 0.06
        rotation 1.0 0.0 0.0 1.57
        children [
          Cylinder {
            radius 0.130
            height 0.022
          }
        ]
      }
      Transform {
        translation 0 -0.042 0.06
        rotation 1.0 0.0 0.0 1.57
        children [
          Cylinder {
            radius 0.130
            height 0.022
          }
        ]
      }
    ]
  }
  physics Physics {
    density -1
    mass 14.2529
    centerOfMass 0.0111 0 0.0271
    inertiaMatrix [0.1244 0.0958 0.1167, 0.0008 -0.0007 -0.0005 ]
  }
}
}