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symbol="SWMaterial-3" target="#SWMaterial-3"/> </technique_common> </bind_material> </instance_geometry> </node> <node id="Actor2-Node" name="Actor2" type="NODE"> <translate>-0 -0 0.392430007</translate> <rotate>0.707106769 0 -0.707106709 180</rotate> <instance_geometry url="#ActorShape2_0-Mesh" > <bind_material> <technique_common> <instance_material symbol="SWMaterial-5" target="#SWMaterial-5"/> <instance_material symbol="SWMaterial-6" target="#SWMaterial-6"/> <instance_material symbol="SWMaterial-7" target="#SWMaterial-7"/> <instance_material symbol="SWMaterial-8" target="#SWMaterial-8"/> </technique_common> </bind_material> </instance_geometry> </node> <node id="Actor3-Node" name="Actor3" type="NODE"> <translate>0 0 0</translate> <rotate>0.707106769 0 -0.707106709 180</rotate> <instance_geometry url="#ActorShape3_0-Mesh" > <bind_material> <technique_common> <instance_material symbol="SWMaterial-9" target="#SWMaterial-9"/> </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>0.567913115 0.753393412 0.971825898</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_Joint lid_r07_Simple-1"> <technique_common> <dynamic>true</dynamic> <mass>0.144578397</mass> <mass_frame> <translate>-0.004071467 0.038081262 0.000000023</translate> <rotate>-0.969602108 -0.173008814 0.173031032 91.76877594</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>0.000387598 0.000256516 0.000387515</half_extents> </box> <translate>0 0 0</translate> <rotate>1 0 0 0</rotate> <extra> <technique profile="PhysX"> <group>0</group> <skinWidth>0.000001026</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="UR5-1/Size 1 r�r_r01_Simple-1"> <technique_common> <dynamic>true</dynamic> <mass>1.205767751</mass> <mass_frame> <translate>-0 0 0.012875</translate> <rotate>0.707106769 0 0.707106709 180</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>0.000528958 0.000528958 0.00136465</half_extents> </box> <translate>0 0 0</translate> <rotate>1 0 0 0</rotate> <extra> <technique profile="PhysX"> <group>0</group> <skinWidth>0.000002984</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="UR5-1/Size 1_House_r13_Simple-3"> <technique_common> <dynamic>true</dynamic> <mass>0.371770769</mass> <mass_frame> <translate>0.007878017 -0.009855087 0.000001293</translate> <rotate>-0.876722813 -0.340088427 0.340142578 97.504043579</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>0.000397194 0.0004375 0.000415</half_extents> </box> <translate>0 0 0</translate> <rotate>1 0 0 0</rotate> <extra> <technique profile="PhysX"> <group>0</group> <skinWidth>0.000001589</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="UR5-1/Size 3 to Size 1_Angle_r02_Simple-1"> <technique_common> <dynamic>true</dynamic> <mass>0.796499729</mass> <mass_frame> <translate>-0.012973649 -0.016260631 0.000001592</translate> <rotate>-0.961200058 0.195086628 -0.195026845 92.269416809</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>0.000580284 0.000485497 0.00066011</half_extents> </box> <translate>0 0 0</translate> <rotate>1 0 0 0</rotate> <extra> <technique profile="PhysX"> <group>0</group> <skinWidth>0.000001942</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> <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>