From c4d45a0be211df3cc695daed4a4013d35c07c5f2 Mon Sep 17 00:00:00 2001
From: Chuyuan Fu <fuchuyuan.kelly@gmail.com>
Date: Thu, 2 Apr 2020 09:25:31 -0700
Subject: [PATCH] add deformable in urdf

---
 data/torus_deform.urdf | 13 +++++++++++++
 1 file changed, 13 insertions(+)
 create mode 100644 data/torus_deform.urdf

diff --git a/data/torus_deform.urdf b/data/torus_deform.urdf
new file mode 100644
index 000000000..c5d661993
--- /dev/null
+++ b/data/torus_deform.urdf
@@ -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>