<?xml version="1.0" encoding="UTF-8"?>
<COLLADA xmlns="http://www.collada.org/2008/03/COLLADASchema" version="1.5.0">
	<asset>
		<contributor>
			<authoring_tool>OpenRAVE Collada Writer</authoring_tool>
		</contributor>
		<created>2024-02-23T10:47:14.000000</created>
		<modified>2024-02-23T10:47:14.000000</modified>
		<unit/>
		<up_axis>Z_UP</up_axis>
	</asset>
	<library_visual_scenes id="vscenes">
		<visual_scene id="vscene" name="Visual Scene">
			<node id="visual3" name="cylinder" sid="visual3">
				<translate>0 0 0</translate>
				<rotate>1 0 0 0</rotate>
				<instance_node url="#v3.node0" sid="node0" name="cylinder"/>
			</node>
		</visual_scene>
	</library_visual_scenes>
	<library_geometries id="geometries">
		<geometry id="g3_link0_geom0">
			<mesh>
				<source id="g3_link0_geom0_positions">
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					<technique_common>
						<accessor count="144" source="#g3_link0_geom0_positions-array" stride="3">
							<param name="X" type="float"/>
							<param name="Y" type="float"/>
							<param name="Z" type="float"/>
						</accessor>
					</technique_common>
				</source>
				<vertices id="g3_link0_geom0_vertices">
					<input semantic="POSITION" source="#g3_link0_geom0_positions"/>
				</vertices>
				<triangles count="48" material="mat0">
					<input offset="0" semantic="VERTEX" source="#g3_link0_geom0_vertices" set="0"/>
					<p>0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143</p>
				</triangles>
			</mesh>
			<extra type="geometry_info">
				<technique profile="OpenRAVE">
					<translate>0 0 0</translate>
					<rotate>1 0 0 0</rotate>
					<visible>
						<bool>true</bool>
					</visible>
				</technique>
			</extra>
		</geometry>
	</library_geometries>
	<library_effects id="effects">
		<effect id="g3_link0_geom0_eff">
			<profile_COMMON>
				<technique sid="">
					<phong>
						<ambient>
							<color>0 0 0 0</color>
						</ambient>
						<diffuse>
							<color>1 1 0 1</color>
						</diffuse>
						<transparency>
							<float>1</float>
						</transparency>
					</phong>
				</technique>
			</profile_COMMON>
		</effect>
	</library_effects>
	<library_materials id="materials">
		<material id="g3_link0_geom0_mat">
			<instance_effect url="#g3_link0_geom0_eff"/>
		</material>
	</library_materials>
	<library_nodes id="nodes">
		<node id="v3.node0" name="cylinder" sid="node0">
			<translate>0 0 0</translate>
			<rotate>1 0 0 0</rotate>
			<instance_geometry url="#g3_link0_geom0">
				<bind_material>
					<technique_common>
						<instance_material symbol="mat0" target="#g3_link0_geom0_mat"/>
					</technique_common>
				</bind_material>
			</instance_geometry>
		</node>
	</library_nodes>
	<library_kinematics_models id="kmodels">
		<kinematics_model id="kmodel3" name="cylinder">
			<asset>
				<subject/>
			</asset>
			<technique_common>
				<link sid="link0" name="cylinder">
					<translate>0 0 0</translate>
					<rotate>1 0 0 0</rotate>
				</link>
			</technique_common>
			<extra type="interface_type">
				<technique profile="OpenRAVE">
					<interface type="kinbody"/>
				</technique>
			</extra>
			<extra type="collision">
				<technique profile="OpenRAVE">
					<link_collision_state link="kmodel3/link0">
						<bool>true</bool>
					</link_collision_state>
				</technique>
			</extra>
		</kinematics_model>
	</library_kinematics_models>
	<library_articulated_systems id="asystems">
		<articulated_system id="body3_kinematics">
			<kinematics>
				<instance_kinematics_model url="#kmodel3" sid="kmodel3_inst">
					<newparam sid="body3_kinematics_kmodel3_inst">
						<SIDREF>body3_kinematics/kmodel3_inst</SIDREF>
					</newparam>
				</instance_kinematics_model>
				<technique_common/>
			</kinematics>
		</articulated_system>
		<articulated_system id="body3_motion">
			<motion>
				<instance_articulated_system url="#body3_kinematics">
					<newparam sid="body3_motion_kmodel3_inst">
						<SIDREF>body3_kinematics/body3_kinematics_kmodel3_inst</SIDREF>
					</newparam>
				</instance_articulated_system>
				<technique_common/>
			</motion>
			<extra type="interface_type">
				<technique profile="OpenRAVE">
					<interface type="kinbody"/>
				</technique>
			</extra>
		</articulated_system>
	</library_articulated_systems>
	<library_kinematics_scenes id="kscenes">
		<kinematics_scene id="kscene" name="Kinematics Scene">
			<instance_articulated_system sid="body3_motion_inst" url="#body3_motion" name="cylinder">
				<newparam sid="kscene_kmodel3_inst">
					<SIDREF>body3_motion/body3_motion_kmodel3_inst</SIDREF>
				</newparam>
			</instance_articulated_system>
		</kinematics_scene>
	</library_kinematics_scenes>
	<library_physics_scenes id="pscenes">
		<physics_scene id="pscene" name="Physics Scene">
			<instance_physics_model url="#pmodel3" sid="pmodel3_inst" parent="#v3.node0">
				<instance_rigid_body body="rigid0" sid="rigid0" target="#v3.node0"/>
			</instance_physics_model>
			<technique_common>
				<gravity>0 0 -9.79793</gravity>
			</technique_common>
		</physics_scene>
	</library_physics_scenes>
	<library_physics_models id="pmodels">
		<physics_model id="pmodel3" name="cylinder">
			<rigid_body sid="rigid0" name="cylinder">
				<technique_common>
					<dynamic>true</dynamic>
					<mass>1</mass>
					<mass_frame>
						<translate>0 0 0</translate>
						<rotate>1 0 0 0</rotate>
					</mass_frame>
					<inertia>0 0 0</inertia>
					<shape>
						<instance_geometry url="#g3_link0_geom0"/>
						<translate>0 0 0</translate>
						<rotate>1 0 0 0</rotate>
					</shape>
				</technique_common>
			</rigid_body>
		</physics_model>
	</library_physics_models>
	<scene>
		<instance_physics_scene url="#pscene" sid="pscene_inst" name="Physics Scene"/>
		<instance_visual_scene url="#vscene" sid="vscene_inst" name="Visual Scene"/>
		<instance_kinematics_scene url="#kscene" sid="kscene_inst" name="Kinematics Scene">
			<bind_kinematics_model node="visual3/node0">
				<param>kscene_kmodel3_inst</param>
			</bind_kinematics_model>
		</instance_kinematics_scene>
	</scene>
	<extra id="sensors" type="library_sensors">
		<technique profile="OpenRAVE"/>
	</extra>
	<extra id="actuators" type="library_actuators">
		<technique profile="OpenRAVE"/>
	</extra>
</COLLADA>
