116 lines
886 KiB
Plaintext
116 lines
886 KiB
Plaintext
<?xml version="1.0" encoding="utf-8"?>
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<!-- ================================================================================
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COLLADA Model File
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Copyright (C) 2024 Franka Robotics GmbH
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Licensed under the Apache License, Version 2.0 (the "License");
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Unless required by applicable law or agreed to in writing, software
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distributed under the License is distributed on an "AS IS" BASIS,
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WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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See the License for the specific language governing permissions and
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limitations under the License.
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================================================================================
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NOTICE: This COLLADA model file is subject to the terms and conditions of the Apache License,
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Version 2.0, and has been made available under that License by Franka Robotics GmbH.
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This file, and the ideas, concepts, and techniques contained herein, are the property of
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Franka Robotics GmbH.
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The contents of this file are not endorsed by Apache Software Foundation, and are solely the
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responsibility of Franka Robotics GmbH and its contributors.
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================================================================================ -->
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<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
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<asset>
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<contributor>
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<author>Blender User</author>
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<authoring_tool>Blender 3.6.5 commit date:2023-10-16, commit time:14:30, hash:cf1e1ed46b7e</authoring_tool>
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</contributor>
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<created>2023-10-23T18:16:35</created>
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<modified>2023-10-23T18:16:35</modified>
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<unit name="meter" meter="1"/>
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<up_axis>Z_UP</up_axis>
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</asset>
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<library_effects>
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<effect id="_02_03_SHOULDER_URDF_UU_color_202_209_238-effect">
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<profile_COMMON>
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<technique sid="common">
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<phong>
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<emission>
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<color sid="emission">0 0 0 1</color>
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</emission>
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<diffuse>
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<color sid="diffuse">1 1 1 1</color>
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</diffuse>
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<reflectivity>
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<float sid="specular">0.015</float>
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</reflectivity>
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<index_of_refraction>
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<float sid="ior">1.45</float>
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</index_of_refraction>
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</phong>
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</technique>
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</profile_COMMON>
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</effect>
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</library_effects>
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<library_images/>
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<library_materials>
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<material id="_02_03_SHOULDER_URDF_UU_color_202_209_238-material" name="_02_03_SHOULDER_URDF_UU_color_202_209_238">
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<instance_effect url="#_02_03_SHOULDER_URDF_UU_color_202_209_238-effect"/>
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</material>
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</library_materials>
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<library_geometries>
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<geometry id="_02_03_SHOULDER_URDF_UU-mesh" name="_02_03_SHOULDER_URDF_UU">
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<mesh>
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<source id="_02_03_SHOULDER_URDF_UU-mesh-positions">
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<float_array id="_02_03_SHOULDER_URDF_UU-mesh-positions-array" count="34548">26.25458 142.6488 6.267967 28.52888 144.1853 5.914919 28.68456 143.9889 6.660121 40.77851 154.7374 4.484184 44.20121 158.8422 5.078495 44.52639 158.3295 8.402934 14.94835 139.0106 1.90652 17.84955 139.9725 0.8294083 17.87012 139.8463 2.655662 7.953494 136.262 6.151177 6.570111 135.7194 6.6121 6.261337 136.0561 6.043725 53.30476 176.6808 14.21531 52.92765 175.243 14.16365 52.25112 172.9752 13.12344 34.25627 142.3127 11.60424 34.07927 142.1504 11.57997 33.77153 142.4645 11.38351 2.00726e-5 130.7907 9.166795 0.04045933 130.7459 9.174515 2.00863e-5 130.7148 9.179166 5.153912 137.2406 0.649998 5.296304 137.2597 0.649998 1.763224 136.9335 2.49022 5.337075 137.2252 1.561201 5.354863 137.2676 0.649998 8.726288 137.7192 0.649998 43.79439 158.7266 0.6499985 44.11308 159.1823 0.6499986 44.11615 159.1348 1.476707 54.68543 186.0866 4.60674 54.66758 186.3045 0.6499992 54.82655 187.6357 0.6499992 55 192 4.626507 54.99999 192 8.137745 54.9911 191 4.626507 54.68543 186.0866 4.60674 55 192 1.649999 54.82655 187.6357 0.6499992 55 192 0.6499993 53.29464 178.4946 0.649999 53.4629 179.0878 0.649999 53.63284 179.8094 1.274961 53.61468 179.8458 0.649999 54.68543 186.0866 4.60674 54.3123 183.3296 0.6499991 54.66758 186.3045 0.6499992 50.57458 170.3843 0.6499988 51.94894 173.9874 0.6499989 51.95895 173.6723 6.060849 52.12197 174.4411 0.6499989 49.77465 168.4324 4.036194 49.73906 168.6436 0.6499987 50.57458 170.3843 0.6499988 44.11615 159.1348 1.476707 44.11308 159.1823 0.6499986 47.14428 163.6013 2.52674 44.11308 159.1823 0.6499986 46.28154 162.2834 0.6499986 47.14428 163.6013 2.52674 47.1241 163.7182 0.6499986 49.77465 168.4324 4.036194 48.49676 166.0556 0.6499987 49.73906 168.6436 0.6499987 43.79439 158.7266 0.6499985 44.11615 159.1348 1.476707 41.04383 155.3872 0.6499984 40.71067 155.0142 0.8625037 40.70325 155.0344 0.6499984 40.70325 155.0344 0.6499984 40.71067 155.0142 0.8625037 38.03477 152.2703 0.6499984 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1.736652 137.0115 1.595903 -6.4274e-5 136.8727 2.558532 -6.42709e-5 136.8727 2.558599 5.153912 137.2406 0.649998 1.763224 136.9335 2.49022 3.972771 137.1425 0.649998 1.736652 137.0115 1.595903 1.80655 137.0648 0.649998 -1.04319e-4 136.9944 1.702886 -8.08216e-5 136.9956 1.634667 -6.42709e-5 136.8727 2.558599 1.736652 137.0115 1.595903 -2.78459e-5 136.762 3.336893 1.763224 136.9335 2.49022 -2.56542e-5 136.7404 3.395258 -2.53015e-5 136.7369 3.404652 -2.53082e-5 136.7369 3.404472 0.1740671 136.5259 4.113819 -2.53015e-5 136.7369 3.404652 0.1740671 136.5259 4.113819 4.4462e-6 136.4432 4.196839 4.4462e-6 136.4432 4.196839 0.1740671 136.5259 4.113819 4.4466e-6 136.4432 4.19685 0.4077504 136.2581 4.768922 3.42225e-5 136.1493 4.989789 0.6851124 135.9502 5.373578 1.1513e-5 135.7282 5.648488 2.72472e-6 134.6494 7.011398 5.25812e-7 134.7304 6.927777 1.349716 135.2337 6.455977 -1.38043e-5 135.2587 6.382825 0.3456845 134.2898 7.403759 1.50437e-5 134.1512 7.516761 1.55848e-5 134.1753 7.500446 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11251 11470 11252 11469 11251 11471 11253 11470 11252 11470 11252 11471 11253 11472 11254 11473 11255 11474 11256 11475 11257 11474 11256 11476 11258 11475 11257 11475 11257 11476 11258 11477 11259 11476 11258 11478 11260 11477 11259 11479 11261 11480 11262 11481 11263 11480 11262 11482 11264 11481 11263 11481 11263 11482 11264 11483 11265 11484 11266 11485 11267 11486 11268 11485 11267 11487 11269 11486 11268 11486 11268 11487 11269 11488 11270 11489 11271 11490 11271 11491 11271 11492 11088 11493 11088 11494 11088 11493 11088 11495 11088 11494 11088 11494 11088 11495 11088 11496 11088 11497 11272 11498 11272 11499 11272 11500 11273 11501 11273 11502 11273 11501 11273 11503 11273 11502 11273 11502 11273 11503 11273 11504 11273 11505 11274 11506 11275 11507 11276 11506 11275 11508 11277 11507 11276 11509 11278 11510 11278 11511 11279 11510 11278 11512 11280 11511 11279 11513 11272 11514 11272 11515 11272</p>
|
|
</triangles>
|
|
</mesh>
|
|
</geometry>
|
|
</library_geometries>
|
|
<library_visual_scenes>
|
|
<visual_scene id="Scene" name="Scene">
|
|
<node id="_1_SHOULDER" name="01_SHOULDER" type="NODE">
|
|
<matrix sid="transform">0.001 0 0 0 0 -4.37114e-11 -0.001 0 0 0.001 -4.37114e-11 -0.192 0 0 0 1</matrix>
|
|
<instance_geometry url="#_02_03_SHOULDER_URDF_UU-mesh" name="01_SHOULDER">
|
|
<bind_material>
|
|
<technique_common>
|
|
<instance_material symbol="_02_03_SHOULDER_URDF_UU_color_202_209_238-material" target="#_02_03_SHOULDER_URDF_UU_color_202_209_238-material"/>
|
|
</technique_common>
|
|
</bind_material>
|
|
</instance_geometry>
|
|
</node>
|
|
</visual_scene>
|
|
</library_visual_scenes>
|
|
<scene>
|
|
<instance_visual_scene url="#Scene"/>
|
|
</scene>
|
|
</COLLADA>
|