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62 lines
1.3 KiB
Protocol Buffer
62 lines
1.3 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 UtorsoSolid [
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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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UtorsoMesh {
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}
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]
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name "Utorso"
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boundingObject Group {
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children [
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Transform {
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translation 0.0446 0 0.1869
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rotation 0.0 1.0 0.0 0.0
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children [
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Box {
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size 0.3188 0.24 0.3162
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}
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]
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}
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Transform {
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translation 0.024 0.16 0.18
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rotation 1.0 0.0 0.0 1.0464
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children [
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Cylinder {
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radius 0.0363
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height 0.22375
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}
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]
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}
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Transform {
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translation 0.024 -0.16 0.18
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rotation 1.0 0.0 0.0 2.0936
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children [
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Cylinder {
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radius 0.0363
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height 0.22375
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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 18.484
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centerOfMass 0.02 -0.001 0.211
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inertiaMatrix [0.395 1.089 0.327, 0 0.083 -0.003 ]
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}
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}
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}
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