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		<contributor>
			<author>NxuStream2 converter - http://www.ageia.com</author>
			<authoring_tool>PhysX	Rocket,	PhysX	Viewer,	or CreateDynamics</authoring_tool>
			<comments>questions	to:	jratcliff@ageia.com</comments>
		</contributor>
		 <created>2012-03-23T22:39:03.74Z</created>
		 <modified>2012-03-23T22:39:03.74Z</modified>
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						-0.008 0.057864789	0.00395806	-0.008 0	0.057999998	-0.008 -0.007897666	0.057459787	-0.008 0.012828032	0.058775377	
						-0.014 0.012828032	0.058775377	-0.014 0.011914618	0.058053624	-0.008 0.011914618	0.058053624	-0.014 0.01085906	0.05756266	
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						-0.008 0.021391673	0.067339018	0.002 0.035355341	0.045497473	0.002 0.036390614	0.045633771	0.002 0.037355337	0.046033371	
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						-0.000955556 -0.049015697	0.05476962	-0.000461354 -0.04950713	0.054325379	-0.00040807 -0.049560115	0.054277483	0.000096512 -0.050285839	0.053605225	
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						-0.008 0.0045	-0.066	-0.008 0.004346666	-0.064835317	-0.014 0.022297472	-0.068056069	-0.014 0.023343662	-0.068546094	
						-0.014 0.024474388	-0.068782933	-0.014 0.025629289	-0.068753943	-0.014 0.026746711	-0.068460673	-0.014 0.068753943	-0.025629289	
						-0.014 0.068460673	-0.026746711	-0.014 0.065081015	-0.034157153	-0.014 0.060489316	-0.041752759	-0.014 0.055015542	-0.048739515	
						-0.014 0.048739515	-0.055015542	-0.014 0.041752759	-0.060489316	-0.014 0.034157153	-0.065081015	-0.014 0.068056069	-0.022297472	
						-0.014 0.068546094	-0.023343662	-0.014 0.068782933	-0.024474388	-0.008 0.068460673	-0.026746711	-0.008 0.068753943	-0.025629289	
						-0.008 0.068782933	-0.024474388	-0.008 0.068546094	-0.023343662	-0.008 0.068056069	-0.022297472	-0.008 0.069181979	-0.00318198	
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						-0.008 0.070346668	0.001164686	-0.008 0.0735	0	-0.008 0.070500001	0	-0.008 0.061500002	-0	
						-0.008 0.061653335	0.001164686	-0.008 0.062102884	0.00225	-0.008 0.070346668	-0.001164686	-0.008 0.068056069	0.022297472	
						-0.008 0.068546094	0.023343662	-0.008 0.071364224	0.017589701	-0.008 0.066	-0.0045	-0.008 0.067164689	-0.004346666	
						-0.008 0.069181979	0.00318198	-0.008 0.06825	0.003897114	-0.008 0.067164689	0.004346666	-0.008 0.066	0.0045	
						-0.008 0.064835317	0.004346666	-0.008 0.063749999	0.003897114	-0.008 0.061653335	-0.001164686	-0.008 0.062102884	-0.00225	
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						-0.008 0.071364224	-0.017589701	-0.008 0.068723693	-0.026063459	-0.008 0.06825	-0.003897114	-0.014 0.068056069	0.022297472	
						-0.014 0.068546094	0.023343662	-0.014 0.068782933	0.024474388	-0.014 0.068753943	0.025629289	-0.014 0.068460673	0.026746711	
						-0.014 0.065081015	0.034157153	-0.014 0.060489316	0.041752759	-0.014 0.055015542	0.048739515	-0.014 0.048739515	0.055015542	
						-0.014 0.041752759	0.060489316	-0.014 0.034157153	0.065081015	-0.014 0.026746711	0.068460673	-0.014 0.025629289	0.068753943	
						-0.014 0.022297472	0.068056069	-0.014 0.023343662	0.068546094	-0.014 0.024474388	0.068782933	-0.008 0.026746711	0.068460673	
						-0.008 0.025629289	0.068753943	-0.008 0.024474388	0.068782933	-0.008 0.023343662	0.068546094	-0.008 0.022297472	0.068056069	
						-0.008 -0.00225	0.069897115	-0.008 -0.008859446	0.072964102	-0.008 -0.001164686	0.070346668	-0.008 0	0.0735	
						-0.008 -0	0.070500001	-0.008 0.00318198	0.069181979	-0.008 0.00225	0.069897115	-0.008 0.008859446	0.072964102	
						-0.008 0.001164686	0.070346668	-0.008 -0.017589701	0.071364224	-0.008 -0.001164686	0.061653335	-0.008 -0	0.061500002	
						-0.008 0.001164686	0.061653335	-0.008 0.00225	0.062102884	-0.008 0.00318198	0.062818021	-0.008 0.003897114	0.063749999	
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				 829 2 899 2 828 2 828 2 899 2 827 2 833 2 901 2 832 2 
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				 946 2 904 2 949 2 949 2 904 2 903 2 833 2 834 2 901 2 
				 901 2 834 2 949 2 901 2 949 2 902 2 902 2 949 2 903 2 
				 731 2 730 2 950 2 946 2 949 2 945 2 945 2 949 2 738 2 
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				 907 2 906 2 950 2 950 2 906 2 905 2 950 2 905 2 941 2 
				 732 2 731 2 943 2 943 2 731 2 950 2 943 2 950 2 942 2 
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				 817 2 884 2 816 2 818 2 819 2 885 2 885 2 819 2 820 2 
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				 954 2 953 2 959 2 959 2 953 2 952 2 959 2 952 2 951 2 
				 951 2 952 2 950 2 951 2 950 2 750 2 750 2 950 2 727 2 
				 					</p>
				</triangles>
				<triangles material="SWMaterial-2" count="137">
					<input offset="0"	semantic="VERTEX"	source="#ActorShape0_0-Vertex"/>
					<input offset="1"	semantic="NORMAL"	source="#ActorShape0_0-Normal"/>
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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 0</translate>
        <rotate>0.707106769 0	-0.707106709	 180</rotate>
			    <instance_geometry url="#ActorShape0_0-Mesh" >
				 <bind_material>
				  <technique_common>
				  <instance_material symbol="SWMaterial-1" target="#SWMaterial-1"/>
				  <instance_material symbol="SWMaterial-2" target="#SWMaterial-2"/>
				  </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>0.38174361	-0.137125209 0.506135762</translate>
              <rotate>0.363713562 0.02478423	0.931181073	 139.760910034</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 3_Round base_r02_Simple-1">
				<technique_common>
					 <dynamic>true</dynamic>
					 <mass>0.34861201</mass>
					 <mass_frame>
            <translate>-0.007875761	-0.00052911 0.000560754</translate>
            <rotate>0.679305971 -0.280036837	0.678323448	 211.320343018</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>0.000774617 0.000774617	0.00012</half_extents>
						</box>
            <translate>0	0 0</translate>
            <rotate>1 0	0	 0</rotate>
					 <extra>
						 <technique	profile="PhysX">
							 <group>0</group>
							 <skinWidth>0.00000048</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>