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<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="Actor1-RigidBody" name="UR5-1/Size 1_Joint lid_r07_Simple-2"> <technique_common> <dynamic>true</dynamic> <mass>0.144578397</mass> <mass_frame> 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