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add deformable in urdf

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This commit is contained in:
Chuyuan Fu
2020-04-02 09:25:31 -07:00
parent f51c76f0c9
commit c4d45a0be2
1 changed files with 13 additions and 0 deletions
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13
data/torus_deform.urdf Normal file
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@@ -0,0 +1,13 @@
<?xml version="1.0"?>
<robot name="torus">
<deformable name="torus">
<inertial>
<mass value="1" />
<inertia ixx="0.0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
</inertial>
<collision_margin value="0.006"/>
<friction value= "0.5"/>
<neohookean mu= "60" lambda= "200" damping= "0.01" />
<visual filename="torus.vtk"/>
</deformable>
</robot>