mahd/implementation/submodel/endeffector/endeffector.3dm

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     <FileName><![CDATA[markerholder.stl]]>
</FileName>
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         <Value>0.5</Value>
        </X>
        <Y>
         <Value>0.5</Value>
        </Y>
        <Z>
         <Value>0.5</Value>
        </Z>
       </SpecularColor>
       <EmissiveColor>
       </EmissiveColor>
       <ShininessPower>
        <Value>15</Value>
       </ShininessPower>
       <Accuracy>16</Accuracy>
       <LowerRadius>0.5</LowerRadius>
       <UpperRadius>0.5</UpperRadius>
       <Height>1</Height>
       <ShowInnerSide>true</ShowInnerSide>
       <ShowOuterSide>true</ShowOuterSide>
      </Cylinder3D>
      <Frame3D>
       <DrawHidden>true</DrawHidden>
       <ID>Port2</ID>
       <Name>Frame</Name>
       <Orientation>
        <OriBryant>
        </OriBryant>
       </Orientation>
       <LockX>true</LockX>
       <LockY>true</LockY>
       <LockZ>true</LockZ>
       <LockXPitch>true</LockXPitch>
       <LockYYaw>true</LockYYaw>
       <LockZRoll>true</LockZRoll>
       <ChildObjects3D>
       </ChildObjects3D>
      </Frame3D>
      <Cube3D>
       <ID>Port2\Hinge0_Sub1</ID>
       <Name>Block</Name>
       <Position>
        <Z>
         <Value>0.4</Value>
        </Z>
       </Position>
       <Orientation>
        <OriBryant>
        </OriBryant>
       </Orientation>
       <LockX>true</LockX>
       <LockY>true</LockY>
       <LockZ>true</LockZ>
       <LockXPitch>true</LockXPitch>
       <LockYYaw>true</LockYYaw>
       <LockZRoll>true</LockZRoll>
       <ChildObjects3D>
       </ChildObjects3D>
       <MeshScale>
        <X>
         <Value>0.2</Value>
        </X>
        <Y>
         <Value>0.2</Value>
        </Y>
        <Z>
         <Value>0.2</Value>
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       </MeshScale>
       <ColorValue>
        <Red>
         <Value>0</Value>
        </Red>
        <Green>
         <Value>0</Value>
        </Green>
        <Blue>
         <Value>1</Value>
        </Blue>
        <Alpha>
         <Value>1</Value>
        </Alpha>
       </ColorValue>
       <SpecularColor>
        <X>
         <Value>0.5</Value>
        </X>
        <Y>
         <Value>0.5</Value>
        </Y>
        <Z>
         <Value>0.5</Value>
        </Z>
       </SpecularColor>
       <EmissiveColor>
       </EmissiveColor>
       <ShininessPower>
        <Value>15</Value>
       </ShininessPower>
       <CubeCenter>Center</CubeCenter>
       <RibLength>1</RibLength>
       <Accuracy>4</Accuracy>
       <ShowInnerSide>false</ShowInnerSide>
      </Cube3D>
     </ChildObjects3D>
         </Frame3D>
         <Frame3D>
     <DrawHidden>true</DrawHidden>
     <ID>Port3\Hinge0</ID>
     <Name>Frame</Name>
     <Orientation>
      <OriBryant>
      </OriBryant>
     </Orientation>
     <LockX>true</LockX>
     <LockY>true</LockY>
     <LockZ>true</LockZ>
     <LockXPitch>true</LockXPitch>
     <LockYYaw>true</LockYYaw>
     <LockZRoll>true</LockZRoll>
     <ChildObjects3D>
      <Cylinder3D>
       <DrawHidden>true</DrawHidden>
       <ID>Port3\Hinge0_Sub0</ID>
       <Name>Cylinder</Name>
       <Position>
        <X>
         <Value>0.3</Value>
        </X>
       </Position>
       <Orientation>
        <OriBryant>
         <Angles>
     <Y>
      <Value>1.5707963267949</Value>
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         </Angles>
        </OriBryant>
       </Orientation>
       <LockX>true</LockX>
       <LockY>true</LockY>
       <LockZ>true</LockZ>
       <LockXPitch>true</LockXPitch>
       <LockYYaw>true</LockYYaw>
       <LockZRoll>true</LockZRoll>
       <ChildObjects3D>
       </ChildObjects3D>
       <MeshScale>
        <X>
         <Value>0.1</Value>
        </X>
        <Y>
         <Value>0.1</Value>
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        <Z>
         <Value>0.4</Value>
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       </MeshScale>
       <ColorValue>
        <Red>
         <Value>1</Value>
        </Red>
        <Green>
         <Value>0</Value>
        </Green>
        <Blue>
         <Value>0</Value>
        </Blue>
        <Alpha>
         <Value>1</Value>
        </Alpha>
       </ColorValue>
       <SpecularColor>
        <X>
         <Value>0.5</Value>
        </X>
        <Y>
         <Value>0.5</Value>
        </Y>
        <Z>
         <Value>0.5</Value>
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       </SpecularColor>
       <EmissiveColor>
       </EmissiveColor>
       <ShininessPower>
        <Value>15</Value>
       </ShininessPower>
       <Accuracy>16</Accuracy>
       <LowerRadius>0.5</LowerRadius>
       <UpperRadius>0.5</UpperRadius>
       <Height>1</Height>
       <ShowInnerSide>true</ShowInnerSide>
       <ShowOuterSide>true</ShowOuterSide>
      </Cylinder3D>
      <Frame3D>
       <DrawHidden>true</DrawHidden>
       <ID>Port3</ID>
       <Name>Frame</Name>
       <Orientation>
        <OriBryant>
        </OriBryant>
       </Orientation>
       <LockX>true</LockX>
       <LockY>true</LockY>
       <LockZ>true</LockZ>
       <LockXPitch>true</LockXPitch>
       <LockYYaw>true</LockYYaw>
       <LockZRoll>true</LockZRoll>
       <ChildObjects3D>
       </ChildObjects3D>
      </Frame3D>
      <Cylinder3D>
       <ID>Port3\Hinge0_Sub1</ID>
       <Name>Block</Name>
       <Position>
        <X>
         <Value>0.1</Value>
        </X>
       </Position>
       <Orientation>
        <OriBryant>
         <Angles>
     <Y>
      <Value>-1.5707963267949</Value>
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         </Angles>
        </OriBryant>
       </Orientation>
       <LockX>true</LockX>
       <LockY>true</LockY>
       <LockZ>true</LockZ>
       <LockXPitch>true</LockXPitch>
       <LockYYaw>true</LockYYaw>
       <LockZRoll>true</LockZRoll>
       <ChildObjects3D>
       </ChildObjects3D>
       <MeshScale>
        <X>
         <Value>0.2</Value>
        </X>
        <Y>
         <Value>0.2</Value>
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        <Z>
         <Value>0.2</Value>
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       </MeshScale>
       <ColorValue>
        <Red>
         <Value>1</Value>
        </Red>
        <Green>
         <Value>0</Value>
        </Green>
        <Blue>
         <Value>0</Value>
        </Blue>
        <Alpha>
         <Value>1</Value>
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       </ColorValue>
       <SpecularColor>
        <X>
         <Value>0.5</Value>
        </X>
        <Y>
         <Value>0.5</Value>
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        <Z>
         <Value>0.5</Value>
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       </SpecularColor>
       <EmissiveColor>
       </EmissiveColor>
       <ShininessPower>
        <Value>15</Value>
       </ShininessPower>
       <Accuracy>16</Accuracy>
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       <Height>1</Height>
       <ShowInnerSide>false</ShowInnerSide>
       <ShowOuterSide>true</ShowOuterSide>
      </Cylinder3D>
      <Cylinder3D>
       <ID>Port3\Hinge0_Sub2</ID>
       <Name>Block</Name>
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        <X>
         <Value>0.2</Value>
        </X>
       </Position>
       <Orientation>
        <OriBryant>
         <Angles>
     <Y>
      <Value>-1.5707963267949</Value>
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        </OriBryant>
       </Orientation>
       <LockX>true</LockX>
       <LockY>true</LockY>
       <LockZ>true</LockZ>
       <LockXPitch>true</LockXPitch>
       <LockYYaw>true</LockYYaw>
       <LockZRoll>true</LockZRoll>
       <ChildObjects3D>
       </ChildObjects3D>
       <MeshScale>
        <X>
         <Value>0.2</Value>
        </X>
        <Y>
         <Value>0.2</Value>
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        <Z>
         <Value>0.2</Value>
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       </MeshScale>
       <ColorValue>
        <Red>
         <Value>1</Value>
        </Red>
        <Green>
         <Value>0.75</Value>
        </Green>
        <Blue>
         <Value>0.75</Value>
        </Blue>
        <Alpha>
         <Value>1</Value>
        </Alpha>
       </ColorValue>
       <SpecularColor>
        <X>
         <Value>0.5</Value>
        </X>
        <Y>
         <Value>0.5</Value>
        </Y>
        <Z>
         <Value>0.5</Value>
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       </SpecularColor>
       <EmissiveColor>
       </EmissiveColor>
       <ShininessPower>
        <Value>15</Value>
       </ShininessPower>
       <Accuracy>16</Accuracy>
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       <UpperRadius>0</UpperRadius>
       <Height>1</Height>
       <ShowInnerSide>false</ShowInnerSide>
       <ShowOuterSide>true</ShowOuterSide>
      </Cylinder3D>
      <Cylinder3D>
       <ID>Port3\Hinge0_Sub3</ID>
       <Name>Cylinder</Name>
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        <Y>
         <Value>0.3</Value>
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       </Position>
       <Orientation>
        <OriBryant>
         <Angles>
     <X>
      <Value>-1.5707963267949</Value>
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        </OriBryant>
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       <LockX>true</LockX>
       <LockY>true</LockY>
       <LockZ>true</LockZ>
       <LockXPitch>true</LockXPitch>
       <LockYYaw>true</LockYYaw>
       <LockZRoll>true</LockZRoll>
       <ChildObjects3D>
       </ChildObjects3D>
       <MeshScale>
        <X>
         <Value>0.1</Value>
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        <Y>
         <Value>0.1</Value>
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        <Z>
         <Value>0.4</Value>
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       </MeshScale>
       <ColorValue>
        <Red>
         <Value>1</Value>
        </Red>
        <Green>
         <Value>0</Value>
        </Green>
        <Blue>
         <Value>0</Value>
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        <Alpha>
         <Value>1</Value>
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       <SpecularColor>
        <X>
         <Value>0.5</Value>
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         <Value>0.5</Value>
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        <Z>
         <Value>0.5</Value>
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       <EmissiveColor>
       </EmissiveColor>
       <ShininessPower>
        <Value>15</Value>
       </ShininessPower>
       <Accuracy>16</Accuracy>
       <LowerRadius>0.5</LowerRadius>
       <UpperRadius>0.5</UpperRadius>
       <Height>1</Height>
       <ShowInnerSide>true</ShowInnerSide>
       <ShowOuterSide>true</ShowOuterSide>
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      <Frame3D>
       <ID>Obj13</ID>
       <Name>Frame</Name>
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        <OriBryant>
        </OriBryant>
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       <LockX>true</LockX>
       <LockY>true</LockY>
       <LockZ>true</LockZ>
       <LockXPitch>true</LockXPitch>
       <LockYYaw>true</LockYYaw>
       <LockZRoll>true</LockZRoll>
       <ChildObjects3D>
       </ChildObjects3D>
      </Frame3D>
      <Cylinder3D>
       <ID>Port3\Hinge0_Sub4</ID>
       <Name>Block</Name>
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        <Y>
         <Value>0.1</Value>
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        <OriBryant>
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     <X>
      <Value>1.5707963267949</Value>
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       <LockX>true</LockX>
       <LockY>true</LockY>
       <LockZ>true</LockZ>
       <LockXPitch>true</LockXPitch>
       <LockYYaw>true</LockYYaw>
       <LockZRoll>true</LockZRoll>
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       </ChildObjects3D>
       <MeshScale>
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         <Value>0.2</Value>
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        <Y>
         <Value>0.2</Value>
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        <Z>
         <Value>0.2</Value>
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       <ColorValue>
        <Red>
         <Value>1</Value>
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         <Value>0</Value>
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        <Blue>
         <Value>0</Value>
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        <Alpha>
         <Value>1</Value>
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       <SpecularColor>
        <X>
         <Value>0.5</Value>
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        <Y>
         <Value>0.5</Value>
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        <Z>
         <Value>0.5</Value>
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       <EmissiveColor>
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       <ShininessPower>
        <Value>15</Value>
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       <Accuracy>16</Accuracy>
       <LowerRadius>0.5</LowerRadius>
       <UpperRadius>0</UpperRadius>
       <Height>1</Height>
       <ShowInnerSide>false</ShowInnerSide>
       <ShowOuterSide>true</ShowOuterSide>
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      <Cylinder3D>
       <ID>Port3\Hinge0_Sub5</ID>
       <Name>Block</Name>
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        <Y>
         <Value>0.2</Value>
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        <OriBryant>
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     <X>
      <Value>1.5707963267949</Value>
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       <LockX>true</LockX>
       <LockY>true</LockY>
       <LockZ>true</LockZ>
       <LockXPitch>true</LockXPitch>
       <LockYYaw>true</LockYYaw>
       <LockZRoll>true</LockZRoll>
       <ChildObjects3D>
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       <MeshScale>
        <X>
         <Value>0.2</Value>
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        <Y>
         <Value>0.2</Value>
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        <Z>
         <Value>0.2</Value>
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       </MeshScale>
       <ColorValue>
        <Red>
         <Value>1</Value>
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        <Green>
         <Value>0.75</Value>
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        <Blue>
         <Value>0.75</Value>
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        <Alpha>
         <Value>1</Value>
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       <SpecularColor>
        <X>
         <Value>0.5</Value>
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         <Value>0.5</Value>
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        <Z>
         <Value>0.5</Value>
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       </SpecularColor>
       <EmissiveColor>
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       <ShininessPower>
        <Value>15</Value>
       </ShininessPower>
       <Accuracy>16</Accuracy>
       <LowerRadius>0.5</LowerRadius>
       <UpperRadius>0</UpperRadius>
       <Height>1</Height>
       <ShowInnerSide>false</ShowInnerSide>
       <ShowOuterSide>true</ShowOuterSide>
      </Cylinder3D>
      <Cylinder3D>
       <ID>Port3\Hinge0_Sub6</ID>
       <Name>Cylinder</Name>
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        <Z>
         <Value>0.3</Value>
        </Z>
       </Position>
       <Orientation>
        <OriBryant>
        </OriBryant>
       </Orientation>
       <LockX>true</LockX>
       <LockY>true</LockY>
       <LockZ>true</LockZ>
       <LockXPitch>true</LockXPitch>
       <LockYYaw>true</LockYYaw>
       <LockZRoll>true</LockZRoll>
       <ChildObjects3D>
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       <MeshScale>
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         <Value>0.1</Value>
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        <Y>
         <Value>0.1</Value>
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       <ColorValue>
        <Red>
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         <Value>0</Value>
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        <Blue>
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        <Alpha>
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       <SpecularColor>
        <X>
         <Value>0.5</Value>
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        <Y>
         <Value>0.5</Value>
        </Y>
        <Z>
         <Value>0.5</Value>
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       <EmissiveColor>
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       <ShininessPower>
        <Value>15</Value>
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       <Accuracy>16</Accuracy>
       <LowerRadius>0.5</LowerRadius>
       <UpperRadius>0.5</UpperRadius>
       <Height>1</Height>
       <ShowInnerSide>true</ShowInnerSide>
       <ShowOuterSide>true</ShowOuterSide>
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      <Frame3D>
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       <Name>Frame</Name>
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       <LockX>true</LockX>
       <LockY>true</LockY>
       <LockZ>true</LockZ>
       <LockXPitch>true</LockXPitch>
       <LockYYaw>true</LockYYaw>
       <LockZRoll>true</LockZRoll>
       <ChildObjects3D>
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      </Frame3D>
      <Cylinder3D>
       <ID>Port3\Hinge0_Sub7</ID>
       <Name>Block</Name>
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        <Z>
         <Value>0.1</Value>
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       <Orientation>
        <OriBryant>
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       <LockX>true</LockX>
       <LockY>true</LockY>
       <LockZ>true</LockZ>
       <LockXPitch>true</LockXPitch>
       <LockYYaw>true</LockYYaw>
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         <Value>0.5</Value>
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        <Y>
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        <Z>
         <Value>0.5</Value>
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       <EmissiveColor>
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       <ShininessPower>
        <Value>15</Value>
       </ShininessPower>
       <Accuracy>16</Accuracy>
       <LowerRadius>0</LowerRadius>
       <UpperRadius>0.5</UpperRadius>
       <Height>1</Height>
       <ShowInnerSide>false</ShowInnerSide>
       <ShowOuterSide>true</ShowOuterSide>
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      <Cylinder3D>
       <ID>Port3\Hinge0_Sub8</ID>
       <Name>Block</Name>
       <Position>
        <Z>
         <Value>0.2</Value>
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       </Position>
       <Orientation>
        <OriBryant>
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       <LockX>true</LockX>
       <LockY>true</LockY>
       <LockZ>true</LockZ>
       <LockXPitch>true</LockXPitch>
       <LockYYaw>true</LockYYaw>
       <LockZRoll>true</LockZRoll>
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        <Y>
         <Value>0.2</Value>
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       <ColorValue>
        <Red>
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        <Green>
         <Value>0.75</Value>
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        <Blue>
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         <Value>1</Value>
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       <SpecularColor>
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         <Value>0.5</Value>
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        <Y>
         <Value>0.5</Value>
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        <Z>
         <Value>0.5</Value>
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       <EmissiveColor>
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       <ShininessPower>
        <Value>15</Value>
       </ShininessPower>
       <Accuracy>16</Accuracy>
       <LowerRadius>0</LowerRadius>
       <UpperRadius>0.5</UpperRadius>
       <Height>1</Height>
       <ShowInnerSide>false</ShowInnerSide>
       <ShowOuterSide>true</ShowOuterSide>
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     </ChildObjects3D>
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        </ChildObjects3D>
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     </Frame3D>
         </ChildObjects3D>
        </Frame3D>
       </ChildObjects3D>
      </Frame3D>
     </ChildObjects3D>
    </Frame3D>
   </ChildObjects3D>
  </MainFrame>
 </Scene>
 <BodyEditor>
  <GravityVector>
   <Z>
    <Value>-9.81</Value>
   </Z>
  </GravityVector>
  <InputGravityType>1</InputGravityType>
  <AngleType>1</AngleType>
  <ConstraintSolverAccuracy>1.0e-5</ConstraintSolverAccuracy>
  <PowerPortType>0</PowerPortType>
  <Bodies>
   <Body>
    <ID>Body0</ID>
    <Name>holder</Name>
    <Description></Description>
    <Inertia>
     <Ixx>0.1</Ixx>
     <Iyy>0.1</Iyy>
     <Izz>0.1</Izz>
     <Mass>1.0</Mass>
     <GenerateGlobalParam>false</GenerateGlobalParam>
    </Inertia>
    <IsFixedWorld>true</IsFixedWorld>
    <BodyPosFixed>true</BodyPosFixed>
   </Body>
   <Body>
    <ID>Body1</ID>
    <Name>marker</Name>
    <Description></Description>
    <Inertia>
     <Ixx>1.8e-5</Ixx>
     <Iyy>2.93095e-7</Iyy>
     <Izz>1.8e-5</Izz>
     <Mass>0.011</Mass>
     <GenerateGlobalParam>false</GenerateGlobalParam>
    </Inertia>
    <IsFixedWorld>false</IsFixedWorld>
    <BodyPosFixed>true</BodyPosFixed>
   </Body>
   <Body>
    <ID>Body2</ID>
    <Name>grippertop</Name>
    <Description></Description>
    <Inertia>
     <Ixx>0.1</Ixx>
     <Iyy>0.1</Iyy>
     <Izz>0.1</Izz>
     <Mass>1.0</Mass>
     <GenerateGlobalParam>false</GenerateGlobalParam>
    </Inertia>
    <IsFixedWorld>false</IsFixedWorld>
    <BodyPosFixed>true</BodyPosFixed>
   </Body>
   <Body>
    <ID>Body3</ID>
    <Name>gripperbase</Name>
    <Description></Description>
    <Inertia>
     <Ixx>1.0e-4</Ixx>
     <Iyy>1.0e-4</Iyy>
     <Izz>4.0e-4</Izz>
     <Mass>0.005</Mass>
     <GenerateGlobalParam>false</GenerateGlobalParam>
    </Inertia>
    <IsFixedWorld>false</IsFixedWorld>
    <BodyPosFixed>false</BodyPosFixed>
   </Body>
   <Body>
    <ID>Body4</ID>
    <Name>World</Name>
    <Description></Description>
    <Inertia>
     <Ixx>0.1</Ixx>
     <Iyy>0.1</Iyy>
     <Izz>0.1</Izz>
     <Mass>1.0</Mass>
     <GenerateGlobalParam>false</GenerateGlobalParam>
    </Inertia>
    <IsReferenceBody>true</IsReferenceBody>
    <IsFixedWorld>false</IsFixedWorld>
    <BodyPosFixed>false</BodyPosFixed>
   </Body>
   <AutoAdded>
    <BodyID>Body4</BodyID>
   </AutoAdded>
  </Bodies>
  <KinematicPairs>
   <Joint3D>
    <ID>KP0</ID>
    <Name>FreeJoint1</Name>
    <Description></Description>
    <HingePointConnections>
     <HingePoints>
      <HingePoint>
       <ID>KP0\Hinge0</ID>
       <Name>ConnectionPoint1</Name>
       <Description></Description>
       <Position>
        <X>
         <Value>0.05</Value>
        </X>
       </Position>
       <Orientation>
        <OriBryant>
        </OriBryant>
       </Orientation>
       <GeneratePort>false</GeneratePort>
       <OutputAbsHMatrix>false</OutputAbsHMatrix>
       <BodyID>Body2</BodyID>
       <KPID>KP0</KPID>
      </HingePoint>
      <HingePoint>
       <ID>KP0\Hinge1</ID>
       <Name>ConnectionPoint2</Name>
       <Description></Description>
       <Position>
        <X>
         <Value>0.05</Value>
        </X>
        <Z>
         <Value>0.015</Value>
        </Z>
       </Position>
       <Orientation>
        <OriBryant>
        </OriBryant>
       </Orientation>
       <GeneratePort>false</GeneratePort>
       <OutputAbsHMatrix>false</OutputAbsHMatrix>
       <BodyID>Body3</BodyID>
       <KPID>KP0</KPID>
      </HingePoint>
     </HingePoints>
    </HingePointConnections>
    <UserDirection>true</UserDirection>
    <JointType>PureRotation</JointType>
    <MoveAxis1>1</MoveAxis1>
    <MoveAxis2>1</MoveAxis2>
    <ConstraintJoint>true</ConstraintJoint>
    <UserConstraint>true</UserConstraint>
    <GeneratePort>false</GeneratePort>
    <OutputPosition>false</OutputPosition>
    <OutputVelocity>false</OutputVelocity>
    <OutputConstraintForces>false</OutputConstraintForces>
    <OverrideConstraintParameter>false</OverrideConstraintParameter>
    <InitialValue>0.0</InitialValue>
    <InitValLocked>false</InitValLocked>
    <AdditionalComponents>
     <HasSpring>true</HasSpring>
     <SpringValue>1.0</SpringValue>
     <HasDamping>true</HasDamping>
     <DampingValue>1.0</DampingValue>
    </AdditionalComponents>
   </Joint3D>
   <Joint3D>
    <ID>KP1</ID>
    <Name>holderWeld</Name>
    <Description></Description>
    <HingePointConnections>
     <HingePoints>
      <HingePoint>
       <ID>KP1\Hinge0</ID>
       <Name>ConnectionPoint1</Name>
       <Description></Description>
       <Position>
        <Y>
         <Value>0.11</Value>
        </Y>
        <Z>
         <Value>-0.0088</Value>
        </Z>
       </Position>
       <Orientation>
        <OriBryant>
        </OriBryant>
       </Orientation>
       <GeneratePort>false</GeneratePort>
       <OutputAbsHMatrix>false</OutputAbsHMatrix>
       <BodyID>Body4</BodyID>
       <KPID>KP1</KPID>
      </HingePoint>
      <HingePoint>
       <ID>KP1\Hinge1</ID>
       <Name>ConnectionPoint2</Name>
       <Description></Description>
       <Position>
       </Position>
       <Orientation>
        <OriBryant>
        </OriBryant>
       </Orientation>
       <GeneratePort>false</GeneratePort>
       <OutputAbsHMatrix>false</OutputAbsHMatrix>
       <BodyID>Body0</BodyID>
       <KPID>KP1</KPID>
      </HingePoint>
     </HingePoints>
    </HingePointConnections>
    <UserDirection>true</UserDirection>
    <JointType>Weld</JointType>
    <MoveAxis1>2</MoveAxis1>
    <MoveAxis2>2</MoveAxis2>
    <ConstraintJoint>false</ConstraintJoint>
    <UserConstraint>false</UserConstraint>
    <GeneratePort>false</GeneratePort>
    <OutputPosition>false</OutputPosition>
    <OutputVelocity>false</OutputVelocity>
    <OutputConstraintForces>false</OutputConstraintForces>
    <OverrideConstraintParameter>false</OverrideConstraintParameter>
    <InitValLocked>false</InitValLocked>
   </Joint3D>
   <Joint3D>
    <ID>KP2</ID>
    <Name>markerFree</Name>
    <Description></Description>
    <HingePointConnections>
     <HingePoints>
      <HingePoint>
       <ID>KP2\Hinge0</ID>
       <Name>ConnectionPoint1</Name>
       <Description></Description>
       <Position>
       </Position>
       <Orientation>
        <OriBryant>
        </OriBryant>
       </Orientation>
       <GeneratePort>false</GeneratePort>
       <OutputAbsHMatrix>false</OutputAbsHMatrix>
       <BodyID>Body4</BodyID>
       <KPID>KP2</KPID>
      </HingePoint>
      <HingePoint>
       <ID>KP2\Hinge1</ID>
       <Name>ConnectionPoint2</Name>
       <Description></Description>
       <Position>
       </Position>
       <Orientation>
        <OriBryant>
        </OriBryant>
       </Orientation>
       <GeneratePort>false</GeneratePort>
       <OutputAbsHMatrix>false</OutputAbsHMatrix>
       <BodyID>Body1</BodyID>
       <KPID>KP2</KPID>
      </HingePoint>
     </HingePoints>
    </HingePointConnections>
    <UserDirection>true</UserDirection>
    <JointType>FreeMoving</JointType>
    <MoveAxis1>2</MoveAxis1>
    <MoveAxis2>2</MoveAxis2>
    <ConstraintJoint>false</ConstraintJoint>
    <UserConstraint>false</UserConstraint>
    <GeneratePort>false</GeneratePort>
    <OutputPosition>false</OutputPosition>
    <OutputVelocity>false</OutputVelocity>
    <OutputConstraintForces>false</OutputConstraintForces>
    <OverrideConstraintParameter>false</OverrideConstraintParameter>
    <InitialValues>
     <InitialValue>1.0</InitialValue>
     <InitialValue>0.0</InitialValue>
     <InitialValue>0.0</InitialValue>
     <InitialValue>0.0</InitialValue>
     <InitialValue>-3.4914813388431334e-15</InitialValue>
     <InitialValue>1.0</InitialValue>
     <InitialValue>0.0</InitialValue>
     <InitialValue>-1.0</InitialValue>
     <InitialValue>-3.4914813388431334e-15</InitialValue>
     <InitialValue>0.0</InitialValue>
     <InitialValue>0.1</InitialValue>
     <InitialValue>0.0</InitialValue>
    </InitialValues>
    <InitValLocked>false</InitValLocked>
   </Joint3D>
   <Joint3D>
    <ID>KP3</ID>
    <Name>grippertopFree</Name>
    <Description></Description>
    <HingePointConnections>
     <HingePoints>
      <HingePoint>
       <ID>KP3\Hinge0</ID>
       <Name>ConnectionPoint1</Name>
       <Description></Description>
       <Position>
       </Position>
       <Orientation>
        <OriBryant>
        </OriBryant>
       </Orientation>
       <GeneratePort>false</GeneratePort>
       <OutputAbsHMatrix>false</OutputAbsHMatrix>
       <BodyID>Body4</BodyID>
       <KPID>KP3</KPID>
      </HingePoint>
      <HingePoint>
       <ID>KP3\Hinge1</ID>
       <Name>ConnectionPoint2</Name>
       <Description></Description>
       <Position>
       </Position>
       <Orientation>
        <OriBryant>
        </OriBryant>
       </Orientation>
       <GeneratePort>false</GeneratePort>
       <OutputAbsHMatrix>false</OutputAbsHMatrix>
       <BodyID>Body2</BodyID>
       <KPID>KP3</KPID>
      </HingePoint>
     </HingePoints>
    </HingePointConnections>
    <UserDirection>true</UserDirection>
    <JointType>FreeMoving</JointType>
    <MoveAxis1>2</MoveAxis1>
    <MoveAxis2>2</MoveAxis2>
    <ConstraintJoint>false</ConstraintJoint>
    <UserConstraint>false</UserConstraint>
    <GeneratePort>false</GeneratePort>
    <OutputPosition>false</OutputPosition>
    <OutputVelocity>false</OutputVelocity>
    <OutputConstraintForces>false</OutputConstraintForces>
    <OverrideConstraintParameter>false</OverrideConstraintParameter>
    <InitialValues>
     <InitialValue>1.0</InitialValue>
     <InitialValue>-0.0</InitialValue>
     <InitialValue>0.0</InitialValue>
     <InitialValue>0.0</InitialValue>
     <InitialValue>1.0</InitialValue>
     <InitialValue>-0.0</InitialValue>
     <InitialValue>0.0</InitialValue>
     <InitialValue>0.0</InitialValue>
     <InitialValue>1.0</InitialValue>
     <InitialValue>0.0</InitialValue>
     <InitialValue>0.11</InitialValue>
     <InitialValue>0.015</InitialValue>
    </InitialValues>
    <InitValLocked>false</InitValLocked>
   </Joint3D>
   <AutoAdded>
    <JointID>KP1</JointID>
    <JointID>KP2</JointID>
    <JointID>KP3</JointID>
   </AutoAdded>
  </KinematicPairs>
  <Ports>
   <Port3D>
    <ID>Port0</ID>
    <Name>H_marker</Name>
    <Description></Description>
    <HingePoints>
     <HingePoint>
      <ID>Port0\Hinge0</ID>
      <Name>ConnectionPoint1</Name>
      <Description></Description>
      <Position>
      </Position>
      <Orientation>
       <OriBryant>
       </OriBryant>
      </Orientation>
      <GeneratePort>false</GeneratePort>
      <OutputAbsHMatrix>false</OutputAbsHMatrix>
      <BodyID>Body1</BodyID>
      <PortID>Port0</PortID>
     </HingePoint>
    </HingePoints>
    <PowerPort>false</PowerPort>
    <PortType>OutputHMatrix</PortType>
    <CoordinateType>1</CoordinateType>
   </Port3D>
   <Port3D>
    <ID>Port1</ID>
    <Name>marker2</Name>
    <Description></Description>
    <HingePoints>
     <HingePoint>
      <ID>Port1\Hinge0</ID>
      <Name>ConnectionPoint1</Name>
      <Description></Description>
      <Position>
      </Position>
      <Orientation>
       <OriBryant>
       </OriBryant>
      </Orientation>
      <GeneratePort>false</GeneratePort>
      <OutputAbsHMatrix>false</OutputAbsHMatrix>
      <BodyID>Body1</BodyID>
      <PortID>Port1</PortID>
     </HingePoint>
    </HingePoints>
    <PowerPort>true</PowerPort>
    <PortType>InputWrenchFull</PortType>
    <CoordinateType>1</CoordinateType>
   </Port3D>
   <Port3D>
    <ID>Port2</ID>
    <Name>H_grippertop</Name>
    <Description></Description>
    <HingePoints>
     <HingePoint>
      <ID>Port2\Hinge0</ID>
      <Name>ConnectionPoint1</Name>
      <Description></Description>
      <Position>
      </Position>
      <Orientation>
       <OriBryant>
       </OriBryant>
      </Orientation>
      <GeneratePort>false</GeneratePort>
      <OutputAbsHMatrix>false</OutputAbsHMatrix>
      <BodyID>Body2</BodyID>
      <PortID>Port2</PortID>
     </HingePoint>
    </HingePoints>
    <PowerPort>false</PowerPort>
    <PortType>OutputHMatrix</PortType>
    <CoordinateType>1</CoordinateType>
   </Port3D>
   <Port3D>
    <ID>Port3</ID>
    <Name>grippertop2</Name>
    <Description></Description>
    <HingePoints>
     <HingePoint>
      <ID>Port3\Hinge0</ID>
      <Name>ConnectionPoint1</Name>
      <Description></Description>
      <Position>
      </Position>
      <Orientation>
       <OriBryant>
       </OriBryant>
      </Orientation>
      <GeneratePort>false</GeneratePort>
      <OutputAbsHMatrix>false</OutputAbsHMatrix>
      <BodyID>Body2</BodyID>
      <PortID>Port3</PortID>
     </HingePoint>
    </HingePoints>
    <PowerPort>true</PowerPort>
    <PortType>InputWrenchFull</PortType>
    <CoordinateType>1</CoordinateType>
   </Port3D>
   <Port3D>
    <ID>Port4</ID>
    <Name>H_gripperbottom</Name>
    <Description></Description>
    <HingePoints>
     <HingePoint>
      <ID>Port4\Hinge0</ID>
      <Name>ConnectionPoint1</Name>
      <Description></Description>
      <Position>
      </Position>
      <Orientation>
       <OriBryant>
       </OriBryant>
      </Orientation>
      <GeneratePort>false</GeneratePort>
      <OutputAbsHMatrix>false</OutputAbsHMatrix>
      <BodyID>Body3</BodyID>
      <PortID>Port4</PortID>
     </HingePoint>
    </HingePoints>
    <PowerPort>false</PowerPort>
    <PortType>OutputHMatrix</PortType>
    <CoordinateType>1</CoordinateType>
   </Port3D>
   <Port3D>
    <ID>Port5</ID>
    <Name>gripperbottom</Name>
    <Description></Description>
    <HingePoints>
     <HingePoint>
      <ID>Port5\Hinge0</ID>
      <Name>ConnectionPoint1</Name>
      <Description></Description>
      <Position>
      </Position>
      <Orientation>
       <OriBryant>
       </OriBryant>
      </Orientation>
      <GeneratePort>false</GeneratePort>
      <OutputAbsHMatrix>false</OutputAbsHMatrix>
      <BodyID>Body3</BodyID>
      <PortID>Port5</PortID>
     </HingePoint>
    </HingePoints>
    <PowerPort>true</PowerPort>
    <PortType>InputWrenchFull</PortType>
    <CoordinateType>1</CoordinateType>
   </Port3D>
  </Ports>
  <Generate20SimModel>true</Generate20SimModel>
  <Generate20SimScenery>true</Generate20SimScenery>
  <CurrentConfigAsInitial>false</CurrentConfigAsInitial>
  <OutputPVector>false</OutputPVector>
  <OutputPDotVector>false</OutputPDotVector>
  <OutputThetaDotVector>false</OutputThetaDotVector>
  <OutputJMatrix>false</OutputJMatrix>
  <OutputCenterOfMass>false</OutputCenterOfMass>
  <CodeOutputFileName><![CDATA[C:\users\wouter\My Documents\studie\ma\mahd\implementation\submodel\endeffector\endeffector.emx]]>
</CodeOutputFileName>
  <SceneryOutputFileName><![CDATA[C:\users\wouter\My Documents\studie\ma\mahd\implementation\submodel\endeffector\endeffector.scn]]>
</SceneryOutputFileName>
  <CodeSubmodelName>endeffector</CodeSubmodelName>
  <NoJointSceneryObjectGeneration>false</NoJointSceneryObjectGeneration>
  <GenerateSpringDampersForConstraintJoints>true</GenerateSpringDampersForConstraintJoints>
  <IconOutputFileName></IconOutputFileName>
  <Generate20SimIcon>true</Generate20SimIcon>
  <Generate20SimRaytracedIcon>true</Generate20SimRaytracedIcon>
  <RotSpringConstraintValue>10000.0</RotSpringConstraintValue>
  <RotDamperConstraintValue>100.0</RotDamperConstraintValue>
  <TransSpringConstraintValue>100000.0</TransSpringConstraintValue>
  <TransDamperConstraintValue>100.0</TransDamperConstraintValue>
  <AdditionalCode>
  </AdditionalCode>
 </BodyEditor>
 <WindowDefinition>
  <ViewPorts>
   <ViewPort>
    <CameraID>Obj1</CameraID>
   </ViewPort>
   <ViewPort>
    <CameraID>Obj2</CameraID>
   </ViewPort>
   <ViewPort>
    <CameraID>Obj3</CameraID>
   </ViewPort>
   <ViewPort>
    <CameraID>Obj4</CameraID>
   </ViewPort>
  </ViewPorts>
 </WindowDefinition>
</Scene>