Newer
Older
Wim Meeussen
committed
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4542 4901 3972 4321 4544 4903 4544 4903 3972 4321 3979 4328 4544 4903 3979 4328 4546 4905
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<physics_material id="pmat5_0-PhysicsMaterial" name="pmat5_0-PhysicsMaterial">
<technique_common>
<dynamic_friction>0.5</dynamic_friction>
<restitution>0.005</restitution>
<static_friction>0.5</static_friction>
</technique_common>
</physics_material>
<physics_material id="pmat6_0-PhysicsMaterial" name="pmat6_0-PhysicsMaterial">
<technique_common>
<dynamic_friction>0.600000024</dynamic_friction>
<restitution>0.006</restitution>
<static_friction>0.600000024</static_friction>
</technique_common>
</physics_material>
<physics_material id="pmat7_0-PhysicsMaterial" name="pmat7_0-PhysicsMaterial">
<technique_common>
<dynamic_friction>0.699999988</dynamic_friction>
<restitution>0.007</restitution>
<static_friction>0.699999988</static_friction>
</technique_common>
</physics_material>
<physics_material id="pmat8_0-PhysicsMaterial" name="pmat8_0-PhysicsMaterial">
<technique_common>
<dynamic_friction>0.800000012</dynamic_friction>
<restitution>0.008</restitution>
<static_friction>0.800000012</static_friction>
</technique_common>
</physics_material>
<physics_material id="pmat9_0-PhysicsMaterial" name="pmat9_0-PhysicsMaterial">
<technique_common>
<dynamic_friction>0.900000036</dynamic_friction>
<restitution>0.009</restitution>
<static_friction>0.900000036</static_friction>
</technique_common>
</physics_material>
<physics_material id="pmat10_0-PhysicsMaterial" name="pmat10_0-PhysicsMaterial">
<technique_common>
<dynamic_friction>1</dynamic_friction>
<restitution>0.01</restitution>
<static_friction>1</static_friction>
</technique_common>
</physics_material>
</library_physics_materials>
<library_physics_models>
<physics_model id="Scene0-PhysicsModel">
<rigid_body sid="Actor0-RigidBody" name="UR5-2/Size 3_House_r11_Simple-1">
<technique_common>
<dynamic>true</dynamic>
<mass>1.269989491</mass>
<mass_frame>
<translate>0.012227285 -0.013439028 -0.000000123</translate>
<rotate>0.800915182 0.423405886 0.423393786 102.613449097</rotate>
</mass_frame>
<inertia>0.01 0.01 0.01</inertia>
<instance_physics_material url="#pmat0_0-PhysicsMaterial"/>
<shape>
<density>1</density>
<instance_physics_material url="#pmat0_0-PhysicsMaterial"/>
<box>
<half_extents>0.000621368 0.000648932 0.0006425</half_extents>
</box>
<translate>0 0 0</translate>
<rotate>1 0 0 0</rotate>
<extra>
<technique profile="PhysX">
<group>0</group>
<skinWidth>0.000002485</skinWidth>
<disable_collision>true</disable_collision>
</technique>
</extra>
</shape>
</technique_common>
<extra>
<technique profile="PhysX">
<wakeUpCounter>0.399999976</wakeUpCounter>
<linearDamping>0</linearDamping>
<angularDamping>0.050000001</angularDamping>
<maxAngularVelocity>12.56637001</maxAngularVelocity>
<sleepLinearVelocity>0.150000006</sleepLinearVelocity>
<sleepAngularVelocity>0.140000001</sleepAngularVelocity>
<solverIterationCount>160</solverIterationCount>
<disable_gravity>false</disable_gravity>
<kinematic>false</kinematic>
<pose_sleep_test>false</pose_sleep_test>
<filter_sleep_velocity>false</filter_sleep_velocity>
<group>0</group>
<disable_collision>true</disable_collision>
<disable_response>false</disable_response>
<lock_com>true</lock_com>
</technique>
</extra>
</rigid_body>
<rigid_body sid="Actor1-RigidBody" name="UR5-2/Size 3_Joint lid_r06_Simple-1">
<technique_common>
<dynamic>true</dynamic>
<mass>0.28596741</mass>
<mass_frame>
<translate>-0.04411599 0.009393776 -0.000000007</translate>
<rotate>0.702155352 -0.119562887 0.701913536 166.204071045</rotate>
</mass_frame>
<inertia>0.01 0.01 0.01</inertia>
<instance_physics_material url="#pmat0_0-PhysicsMaterial"/>
<shape>
<density>1</density>
<instance_physics_material url="#pmat0_0-PhysicsMaterial"/>
<box>
<half_extents>0.000595072 0.000313513 0.000595022</half_extents>
</box>
<translate>0 0 0</translate>
<rotate>1 0 0 0</rotate>
<extra>
<technique profile="PhysX">
<group>0</group>
<skinWidth>0.000001254</skinWidth>
<disable_collision>true</disable_collision>
</technique>
</extra>
</shape>
</technique_common>
<extra>
<technique profile="PhysX">
<wakeUpCounter>0.399999976</wakeUpCounter>
<linearDamping>0</linearDamping>
<angularDamping>0.050000001</angularDamping>
<maxAngularVelocity>12.56637001</maxAngularVelocity>
<sleepLinearVelocity>0.150000006</sleepLinearVelocity>
<sleepAngularVelocity>0.140000001</sleepAngularVelocity>
<solverIterationCount>160</solverIterationCount>
<disable_gravity>false</disable_gravity>
<kinematic>false</kinematic>
<pose_sleep_test>false</pose_sleep_test>
<filter_sleep_velocity>false</filter_sleep_velocity>
<group>0</group>
<disable_collision>true</disable_collision>
<disable_response>false</disable_response>
<lock_com>true</lock_com>
</technique>
</extra>
</rigid_body>
<rigid_body sid="Actor2-RigidBody" name="UR5-2/Size 3_House_r11_Simple-2">
<technique_common>
<dynamic>true</dynamic>
<mass>1.269989491</mass>
<mass_frame>
<translate>0.012227285 -0.013439028 -0.000000123</translate>
<rotate>0.800915182 0.423405886 0.423393786 102.613449097</rotate>
</mass_frame>
<inertia>0.01 0.01 0.01</inertia>
<instance_physics_material url="#pmat0_0-PhysicsMaterial"/>
<shape>
<density>1</density>
<instance_physics_material url="#pmat0_0-PhysicsMaterial"/>
<box>
<half_extents>0.000621368 0.000648932 0.0006425</half_extents>
</box>
<translate>0 0 0</translate>
<rotate>1 0 0 0</rotate>
<extra>
<technique profile="PhysX">
<group>0</group>
<skinWidth>0.000002485</skinWidth>
<disable_collision>true</disable_collision>
</technique>
</extra>
</shape>
</technique_common>
<extra>
<technique profile="PhysX">
<wakeUpCounter>0.399999976</wakeUpCounter>
<linearDamping>0</linearDamping>
<angularDamping>0.050000001</angularDamping>
<maxAngularVelocity>12.56637001</maxAngularVelocity>
<sleepLinearVelocity>0.150000006</sleepLinearVelocity>
<sleepAngularVelocity>0.140000001</sleepAngularVelocity>
<solverIterationCount>160</solverIterationCount>
<disable_gravity>false</disable_gravity>
<kinematic>false</kinematic>
<pose_sleep_test>false</pose_sleep_test>
<filter_sleep_velocity>false</filter_sleep_velocity>
<group>0</group>
<disable_collision>true</disable_collision>
<disable_response>false</disable_response>
<lock_com>true</lock_com>
</technique>
</extra>
</rigid_body>
<rigid_body sid="Actor3-RigidBody" name="UR5-2/Size 3_Over arm_r01_Simpel-1">
<technique_common>
<dynamic>true</dynamic>
<mass>2.281324863</mass>
<mass_frame>
<translate>0 -0 -0</translate>
<rotate>-0.99999994 0 -0 90</rotate>
</mass_frame>
<inertia>0.01 0.017276373 0.017276373</inertia>
<instance_physics_material url="#pmat0_0-PhysicsMaterial"/>
<shape>
<density>1</density>
<instance_physics_material url="#pmat0_0-PhysicsMaterial"/>
<box>
<half_extents>0.000806285 0.000806285 0.00142</half_extents>
</box>
<translate>0 0 0</translate>
<rotate>1 0 0 0</rotate>
<extra>
<technique profile="PhysX">
<group>0</group>
<skinWidth>0.000003225</skinWidth>
<disable_collision>true</disable_collision>
</technique>
</extra>
</shape>
</technique_common>
<extra>
<technique profile="PhysX">
<wakeUpCounter>0.399999976</wakeUpCounter>
<linearDamping>0</linearDamping>
<angularDamping>0.050000001</angularDamping>
<maxAngularVelocity>12.56637001</maxAngularVelocity>
<sleepLinearVelocity>0.150000006</sleepLinearVelocity>
<sleepAngularVelocity>0.140000001</sleepAngularVelocity>
<solverIterationCount>160</solverIterationCount>
<disable_gravity>false</disable_gravity>
<kinematic>false</kinematic>
<pose_sleep_test>false</pose_sleep_test>
<filter_sleep_velocity>false</filter_sleep_velocity>
<group>0</group>
<disable_collision>true</disable_collision>
<disable_response>false</disable_response>
<lock_com>true</lock_com>
</technique>
</extra>
</rigid_body>
<rigid_body sid="Actor4-RigidBody" name="UR5-2/Size 3_Joint lid_r06_Simple-2">
<technique_common>
<dynamic>true</dynamic>
<mass>0.28596741</mass>
<mass_frame>
<translate>-0.04411599 0.009393776 -0.000000007</translate>
<rotate>0.702155352 -0.119562887 0.701913536 166.204071045</rotate>
</mass_frame>
<inertia>0.01 0.01 0.01</inertia>
<instance_physics_material url="#pmat0_0-PhysicsMaterial"/>
<shape>
<density>1</density>
<instance_physics_material url="#pmat0_0-PhysicsMaterial"/>
<box>
<half_extents>0.000595072 0.000313513 0.000595022</half_extents>
</box>
<translate>0 0 0</translate>
<rotate>1 0 0 0</rotate>
<extra>
<technique profile="PhysX">
<group>0</group>
<skinWidth>0.000001254</skinWidth>
<disable_collision>true</disable_collision>
</technique>
</extra>
</shape>
</technique_common>
<extra>
<technique profile="PhysX">
<wakeUpCounter>0.399999976</wakeUpCounter>
<linearDamping>0</linearDamping>
<angularDamping>0.050000001</angularDamping>
<maxAngularVelocity>12.56637001</maxAngularVelocity>
<sleepLinearVelocity>0.150000006</sleepLinearVelocity>
<sleepAngularVelocity>0.140000001</sleepAngularVelocity>
<solverIterationCount>160</solverIterationCount>
<disable_gravity>false</disable_gravity>
<kinematic>false</kinematic>
<pose_sleep_test>false</pose_sleep_test>
<filter_sleep_velocity>false</filter_sleep_velocity>
<group>0</group>
<disable_collision>true</disable_collision>
<disable_response>false</disable_response>
<lock_com>true</lock_com>
</technique>
</extra>
</rigid_body>
</physics_model>
<physics_model id="Scene0-PhysicsInstance">
<instance_physics_model url="#Scene0-PhysicsModel">
<instance_rigid_body target="#Actor0-Node" body="Actor0-RigidBody">
<technique_common>
<angular_velocity>0 0 0</angular_velocity>
<velocity>0 0 0</velocity>
</technique_common>
</instance_rigid_body>
<instance_rigid_body target="#Actor1-Node" body="Actor1-RigidBody">
<technique_common>
<angular_velocity>0 0 0</angular_velocity>
<velocity>0 0 0</velocity>
</technique_common>
</instance_rigid_body>
<instance_rigid_body target="#Actor2-Node" body="Actor2-RigidBody">
<technique_common>
<angular_velocity>0 0 0</angular_velocity>
<velocity>0 0 0</velocity>
</technique_common>
</instance_rigid_body>
<instance_rigid_body target="#Actor3-Node" body="Actor3-RigidBody">
<technique_common>
<angular_velocity>0 0 0</angular_velocity>
<velocity>0 0 0</velocity>
</technique_common>
</instance_rigid_body>
<instance_rigid_body target="#Actor4-Node" body="Actor4-RigidBody">
<technique_common>
<angular_velocity>0 0 0</angular_velocity>
<velocity>0 0 0</velocity>
</technique_common>
</instance_rigid_body>
<extra>
<technique profile="PhysX">
</technique>
</extra>
</instance_physics_model>
</physics_model>
</library_physics_models>
<library_physics_scenes>
<physics_scene id="SceneInstances-Physics">
<instance_physics_model url="#Scene0-PhysicsInstance"/>
<technique_common>
<gravity>0 0 0</gravity>
<time_step>0.000781</time_step>
</technique_common>
</physics_scene>
</library_physics_scenes>
<scene>
<instance_physics_scene url="#SceneInstances-Physics"/>
<instance_visual_scene url="#Scene0-Visual"/>
</scene>
</COLLADA>