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Cobra_s350.dae
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Cobra_s350.dae
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<?xml version="1.0" encoding="UTF-8"?>
<COLLADA xmlns="http://www.collada.org/2008/03/COLLADASchema" version="1.5.0">
<asset>
<created>2018-08-29T11:05:35</created>
<modified>2018-08-29T11:05:35</modified>
<unit meter="0.001" name="mm"/>
<up_axis>Z_UP</up_axis>
</asset>
<library_visual_scenes>
<visual_scene id="visualScene3">
<node id="libNode24" name="Cobra s350" sid="libNode24">
<matrix>1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
<instance_node url="#libNode17" sid="libNode17" name="Cobra s350"/>
</node>
</visual_scene>
</library_visual_scenes>
<library_geometries>
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<mesh>
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1749 1750 1751 1752 1753 1754 1755 1756 1757 1758 1759 1760 1761 1762 1763 1764 1765 1766 1767 1768 1769 1770 1771 1772 1773 1774 1775 1776 1777 1778 1779 1780 1781 1782 1783 1784 1785 1786 1787 1788 1789 1790 1791 1792 1793 1794 1795 1796 1797 1798 1799 1800 1801 1802 1803 1804 1805 1806 1807 1808 1809 1810 1811 1812 1813 1814 1815 1816 1817 1818 1819 1820 1821 1822 1823 1824 1825 1826 1827 1828 1829 1830 1831 1832 1833 1834 1835 1836 1837 1838 1839 1840 1841 1842 1843 1844 1845 1846 1847 1848 1849 1849 1848 1850 1851 1852 1853 1854 1855 1856 1857 1858 1859 1859 1858 1860 1861 1862 1863 1864 1865 1866 1867 1868 1869 1870 1871 1872 1873 1874 1875 1876 1877 1878 1879 1880 1881 1882 1883 1884 1885 1886 1887 1888 1889 1890 1891 1892 1893 1894 1895 1896 1897 1898 1899 1899 1898 1900 1900 1898 1901 1901 1898 1902 1902 1898 1903 1903 1898 1904 1905 1906 1907 1907 1906 1908 1908 1906 1909 1909 1906 1910 1910 1906 1911 1911 1906 1912 1913 1914 1915 1915 1914 1916 1916 1914 1917 1917 1914 1918 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2003 2004 2005 2006 2006 2005 2007 2006 2007 2008 2008 2007 2009 2010 2009 2007 2011 2009 2010 2012 2013 2014 2015 2012 2014 2016 2012 2015 2015 2014 2017 2016 2018 2012 2019 2018 2016 2020 2021 2022 2022 2021 2023 2022 2023 2024 2024 2023 2025 2023 2026 2025 2024 2025 2027 2028 2029 2030 2028 2031 2029 2030 2029 2032 2033 2031 2028 2032 2029 2034 2034 2029 2035 2034 2036 2032 2029 2037 2035 2034 2035 2038 2039 2040 2041 2041 2040 2042 2043 2039 2041 2041 2042 2044 2045 2039 2043 2044 2042 2046 2045 2047 2039 2044 2046 2048 2047 2045 2049 2048 2046 2050 2049 2051 2047 2048 2050 2052 2053 2051 2049 2052 2050 2054 2053 2055 2051 2052 2054 2056 2057 2055 2053 2056 2054 2058 2057 2059 2055 2056 2058 2060 2060 2059 2057 2060 2058 2059 2061 2062 2063 2063 2062 2064 2063 2064 2065 2065 2064 2066 2064 2067 2066 2065 2066 2068 2069 2070 2071 2071 2070 2072 2071 2072 2073 2073 2072 2074 2072 2075 2074 2073 2074 2076 2077 2078 2079 2079 2080 2077 2079 2081 2080 2077 2080 2082 2080 2083 2082 2077 2082 2084 2085 2086 2087 2085 2087 2088 2088 2087 2089 2088 2090 2085 2087 2091 2089 2088 2089 2092 2093 2094 2095 2093 2096 2094 2095 2094 2097 2098 2096 2093 2094 2099 2097 2095 2097 2100 2101 2102 2103 2103 2102 2104 2105 2104 2102 2106 2104 2105 2106 2107 2104 2108 2107 2106 2109 2110 2111 2112 2110 2109 2110 2113 2111 1313 2112 2109 2114 2113 2110 2111 2113 2115 1313 2116 2112 2117 1313 2109 2114 1310 2113 2116 1313 2117 2109 2118 2117 2119 1310 2114 2113 1310 2120 2117 2121 2116 2122 1310 2119 2122 2120 1310 2117 2123 2121 1349 2120 2122 2124 2123 2117 2123 2125 2121 1349 2126 2120 2127 1349 2122 2124 1372 2123 2123 1372 2125 2126 1349 2127 2122 2128 2127 2129 1372 2124 2125 1372 2130 2127 2128 2130 2131 1372 2129 2131 2130 1372 2127 2130 2131 2132 2133 2134 2132 2135 2133 2134 2133 2136 2137 2135 2132 2134 2136 2138 2137 2139 2135 2138 2136 2140 2141 2139 2137 2138 2140 2142 2141 2143 2139 2142 2140 2144 2145 2143 2141 2142 2144 2146 2145 2147 2143 2146 2144 2148 2149 2147 2145 2146 2148 2150 2149 2151 2147 2150 2148 2151 2150 2151 2149 2152 2153 2154 2154 2155 2152 2154 2156 2155 2152 2155 2157 2155 2158 2157 2152 2157 2159 2160 2161 2162 2162 2161 2163 2164 2163 2161 2162 2163 2165 2166 2163 2164 2164 2161 2167 2165 2163 2168 2167 2161 2169 2170 2171 2172 2172 2171 2173 2172 2173 2174 2173 2175 2174 2176 2175 2173 2176 2177 2175</p>
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</node>
</node>
<node id="libNode19" name="Robot World" sid="libNode19">
<matrix>1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
<instance_geometry url="#libGeo17"/>
</node>
</node>
</library_nodes>
<library_joints>
<joint id="joint9" name="J1" sid="joint9">
<revolute sid="axis">
<axis>0 0 1</axis>
<limits>
<min>-155</min>
<max>155</max>
</limits>
</revolute>
</joint>
<joint id="joint10" name="J2" sid="joint10">
<revolute sid="axis">
<axis>0 0 1</axis>
<limits>
<min>-145</min>
<max>145</max>
</limits>
</revolute>
</joint>
<joint id="joint11" name="J3" sid="joint11">
<prismatic sid="axis">
<axis>0 0 1</axis>
<limits>
<min>0</min>
<max>200</max>
</limits>
</prismatic>
</joint>
<joint id="joint12" name="J4" sid="joint12">
<revolute sid="axis">
<axis>0 0 1</axis>
<limits>
<min>-360</min>
<max>360</max>
</limits>
</revolute>
</joint>
</library_joints>
<library_kinematics_models>
<kinematics_model id="kinematicsModel3" name="Cobra s350">
<technique_common>
<instance_joint url="#joint9" sid="joint9"/>
<instance_joint url="#joint10" sid="joint10"/>
<instance_joint url="#joint11" sid="joint11"/>
<instance_joint url="#joint12" sid="joint12"/>
<link sid="link1" name="Cobra s350">
<attachment_full joint="kinematicsModel3/joint9">
<translate>0 0 0</translate>
<rotate>0 0 1 62.2088</rotate>
<link sid="link2" name="J1">
<attachment_full joint="kinematicsModel3/joint10">
<translate>125 0 0</translate>
<rotate>0 -0 -1 78.3643</rotate>
<link sid="link3" name="J2">
<attachment_full joint="kinematicsModel3/joint11">
<translate>225 0 73.5461</translate>
<rotate>1 0 0 0</rotate>
<link sid="link4" name="J3">
<attachment_full joint="kinematicsModel3/joint12">
<translate>0 0 0</translate>
<rotate>1 0 0 0</rotate>
<link sid="link5" name="J4"/>
</attachment_full>
</link>
</attachment_full>
</link>
</attachment_full>
</link>
</attachment_full>
</link>
</technique_common>
</kinematics_model>
</library_kinematics_models>
<library_kinematics_scenes>
<kinematics_scene id="kinematicsScene3">
<instance_kinematics_model url="#kinematicsModel3" sid="kinematicsModel3" name="Cobra s350">
<newparam sid="joint9_axis">
<SIDREF>kinematicsScene3/kinematicsModel3/joint9/axis</SIDREF>
</newparam>
<newparam sid="joint9_axis_value">
<float>0</float>
</newparam>
<newparam sid="joint10_axis">
<SIDREF>kinematicsScene3/kinematicsModel3/joint10/axis</SIDREF>
</newparam>
<newparam sid="joint10_axis_value">
<float>0</float>
</newparam>
<newparam sid="joint11_axis">
<SIDREF>kinematicsScene3/kinematicsModel3/joint11/axis</SIDREF>
</newparam>
<newparam sid="joint11_axis_value">
<float>0</float>
</newparam>
<newparam sid="joint12_axis">
<SIDREF>kinematicsScene3/kinematicsModel3/joint12/axis</SIDREF>
</newparam>
<newparam sid="joint12_axis_value">
<float>0</float>
</newparam>
</instance_kinematics_model>
</kinematics_scene>
</library_kinematics_scenes>
<scene>
<instance_visual_scene url="#visualScene3"/>
<instance_kinematics_scene url="#kinematicsScene3">
<bind_kinematics_model node="libNode24/libNode17">
<SIDREF>kinematicsModel3</SIDREF>
</bind_kinematics_model>
<bind_joint_axis target="libNode18/jointAxis">
<axis>
<param>joint9_axis</param>
</axis>
<value>
<param>joint9_axis_value</param>
</value>
</bind_joint_axis>
<bind_joint_axis target="libNode20/jointAxis">
<axis>
<param>joint10_axis</param>
</axis>
<value>
<param>joint10_axis_value</param>
</value>
</bind_joint_axis>
<bind_joint_axis target="libNode21/jointAxis">
<axis>
<param>joint11_axis</param>
</axis>
<value>
<param>joint11_axis_value</param>
</value>
</bind_joint_axis>
<bind_joint_axis target="libNode22/jointAxis">
<axis>
<param>joint12_axis</param>
</axis>
<value>
<param>joint12_axis_value</param>
</value>
</bind_joint_axis>
</instance_kinematics_scene>
</scene>
</COLLADA>