181 lines
2.4 MiB
181 lines
2.4 MiB
<?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>2023-10-23T18:27:15</created>
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<modified>2023-10-23T18:27:15</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="_04_05_ELBOW_URDF_color_64_64_64-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">0.03820431 0.04970653 0.0561285 1</color>
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</diffuse>
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<reflectivity>
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<float sid="specular">0.3</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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<effect id="_04_05_ELBOW_URDF_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">0.03820431 0.04970653 0.0561285 1</color>
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</diffuse>
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<reflectivity>
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<float sid="specular">0.435</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="_04_05_ELBOW_URDF_color_64_64_64-material" name="_04_05_ELBOW_URDF_color_64_64_64">
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<instance_effect url="#_04_05_ELBOW_URDF_color_64_64_64-effect"/>
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</material>
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<material id="_04_05_ELBOW_URDF_color_202_209_238-material" name="_04_05_ELBOW_URDF_color_202_209_238">
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<instance_effect url="#_04_05_ELBOW_URDF_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="_04_05_ELBOW_URDF_0-mesh" name="_04_05_ELBOW_URDF_0">
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<mesh>
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<source id="_04_05_ELBOW_URDF_0-mesh-positions">
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<bind_material>
|
|
<technique_common>
|
|
<instance_material symbol="_04_05_ELBOW_URDF_color_64_64_64-material" target="#_04_05_ELBOW_URDF_color_64_64_64-material"/>
|
|
</technique_common>
|
|
</bind_material>
|
|
</instance_geometry>
|
|
</node>
|
|
<node id="_3_FP3_ELBOW" name="03_FP3_ELBOW" type="NODE">
|
|
<matrix sid="transform">-4.37114e-11 0.001 0 0 -0.001 -4.37114e-11 0 0 0 0 0.001 -0.121 0 0 0 1</matrix>
|
|
<instance_geometry url="#_04_05_ELBOW_URDF-mesh" name="03_FP3_ELBOW">
|
|
<bind_material>
|
|
<technique_common>
|
|
<instance_material symbol="_04_05_ELBOW_URDF_color_202_209_238-material" target="#_04_05_ELBOW_URDF_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>
|