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Wrist3.dae 92.7 KiB
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Wim Meeussen's avatar
added all meshes and completed collision model
Wim Meeussen committed
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				 197 48 328 48 329 29 197 48 329 29 198 29 198 29 329 29 306 16 
				 715 40 722 3 695 3 695 3 722 3 732 39 695 3 732 39 693 39 
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				</triangles>
			</mesh>
		</geometry>
	</library_geometries>
	<library_visual_scenes>
		<visual_scene	id="Scene0-Visual"	name="Scene0-Visual">
			<node	id="Actor0-Node" name="Actor0" type="NODE">
        <translate>-0	0.047499999 0</translate>
        <rotate>0.577350259 0.577350259	0.577350259	 120.000007629</rotate>
			    <instance_geometry url="#ActorShape0_0-Mesh" >
				 <bind_material>
				  <technique_common>
				  <instance_material symbol="SWMaterial-0" target="#SWMaterial-0"/>
				  <instance_material symbol="SWMaterial-1" target="#SWMaterial-1"/>
				  </technique_common>
				 </bind_material>
				</instance_geometry>
			</node>
			<node id="Light-0-Node" name="Light-0" type="NODE">
				<translate> 7.099999905 7.099999905 0</translate>
				<rotate> -0.707106709 0.353553355 0 90</rotate>
				<instance_light url="#Light-0" />
			</node>
			<node id="Light-1-Node" name="Light-1" type="NODE">
				<translate> -9.199999809 3.400000095 -1.799999952</translate>
				<rotate> -0.346650153 -0.4689973 0 100.399238586</rotate>
				<instance_light url="#Light-1" />
			</node>
			<node id="Light-2-Node" name="Light-2" type="NODE">
				<translate> -3.400000095 6.099999905 -7.099999905</translate>
				<rotate> 0.980710685 0 -0.097732373 218.650192261</rotate>
				<instance_light url="#Light-2" />
			</node>
			<node id="Camera-0-Node" name="Camera-0" type="NODE">
              <translate>0.101001918	0.201766133 0.20728676</translate>
              <rotate>-0.024906287 0.440779299	0.897269905	 103.953582764</rotate>
				<instance_camera url="#Camera-0" />
			</node>
			</visual_scene>
	</library_visual_scenes>
	<library_physics_materials>
		<physics_material	id="pmat0_0-PhysicsMaterial"	name="pmat0_0-PhysicsMaterial">
			<technique_common>
				<dynamic_friction>0.029999999</dynamic_friction>
				<restitution>0</restitution>
				<static_friction>0.029999999</static_friction>
			</technique_common>
		</physics_material>
		<physics_material	id="pmat1_0-PhysicsMaterial"	name="pmat1_0-PhysicsMaterial">
			<technique_common>
				<dynamic_friction>0.100000001</dynamic_friction>
				<restitution>0.001</restitution>
				<static_friction>0.100000001</static_friction>
			</technique_common>
		</physics_material>
		<physics_material	id="pmat2_0-PhysicsMaterial"	name="pmat2_0-PhysicsMaterial">
			<technique_common>
				<dynamic_friction>0.200000003</dynamic_friction>
				<restitution>0.002</restitution>
				<static_friction>0.200000003</static_friction>
			</technique_common>
		</physics_material>
		<physics_material	id="pmat3_0-PhysicsMaterial"	name="pmat3_0-PhysicsMaterial">
			<technique_common>
				<dynamic_friction>0.300000012</dynamic_friction>
				<restitution>0.003</restitution>
				<static_friction>0.300000012</static_friction>
			</technique_common>
		</physics_material>
		<physics_material	id="pmat4_0-PhysicsMaterial"	name="pmat4_0-PhysicsMaterial">
			<technique_common>
				<dynamic_friction>0.400000006</dynamic_friction>
				<restitution>0.004</restitution>
				<static_friction>0.400000006</static_friction>
			</technique_common>
		</physics_material>
		<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="UR5-1/Size 1_Tool flange_r03_Simple-1">
				<technique_common>
					 <dynamic>true</dynamic>
					 <mass>0.139070794</mass>
					 <mass_frame>
            <translate>0.015764939	0.000189982 0</translate>
            <rotate>0.577136219 0.577457249	0.577457249	 120.0184021</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>0.000375 0.0001725	0.0004025</half_extents>
						</box>
            <translate>0	0 0</translate>
            <rotate>1 0	0	 0</rotate>
					 <extra>
						 <technique	profile="PhysX">
							 <group>0</group>
							 <skinWidth>0.00000069</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>
			<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>
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