diff options
Diffstat (limited to 'data/reduced_beam')
| -rw-r--r-- | data/reduced_beam/K_r_diag_mat.bin | bin | 0 -> 628 bytes | |||
| -rw-r--r-- | data/reduced_beam/M_diag_mat.bin | bin | 0 -> 228 bytes | |||
| -rw-r--r-- | data/reduced_beam/M_r_diag_mat.bin | bin | 0 -> 628 bytes | |||
| -rw-r--r-- | data/reduced_beam/beam_mesh.vtk | 83 | ||||
| -rw-r--r-- | data/reduced_beam/beam_mesh_origin.vtk | 83 | ||||
| -rw-r--r-- | data/reduced_beam/eigenvalues.bin | bin | 0 -> 628 bytes | |||
| -rw-r--r-- | data/reduced_beam/modes.bin | bin | 0 -> 52420 bytes | |||
| -rw-r--r-- | data/reduced_beam/reduced_beam.urdf | 14 |
8 files changed, 180 insertions, 0 deletions
diff --git a/data/reduced_beam/K_r_diag_mat.bin b/data/reduced_beam/K_r_diag_mat.bin Binary files differnew file mode 100644 index 000000000..fab13e564 --- /dev/null +++ b/data/reduced_beam/K_r_diag_mat.bin diff --git a/data/reduced_beam/M_diag_mat.bin b/data/reduced_beam/M_diag_mat.bin Binary files differnew file mode 100644 index 000000000..9e505c373 --- /dev/null +++ b/data/reduced_beam/M_diag_mat.bin diff --git a/data/reduced_beam/M_r_diag_mat.bin b/data/reduced_beam/M_r_diag_mat.bin Binary files differnew file mode 100644 index 000000000..bb80034a4 --- /dev/null +++ b/data/reduced_beam/M_r_diag_mat.bin diff --git a/data/reduced_beam/beam_mesh.vtk b/data/reduced_beam/beam_mesh.vtk new file mode 100644 index 000000000..cbab3e1a2 --- /dev/null +++ b/data/reduced_beam/beam_mesh.vtk @@ -0,0 +1,83 @@ +#vtk DataFile Version 2.0 +I don't think this matters +ASCII +DATASET UNSTRUCTURED_GRID +POINTS 28 double +-0.5000000000000000 -0.2500000000000000 -2.0000000000000000 +-0.5000000000000000 0.2500000000000000 -2.0000000000000000 +0.5000000000000000 -0.2500000000000000 -2.0000000000000000 +0.5000000000000000 0.2500000000000000 -2.0000000000000000 +-0.5000000000000000 -0.2500000000000000 2.0000000000000000 +-0.5000000000000000 0.2500000000000000 2.0000000000000000 +0.5000000000000000 -0.2500000000000000 2.0000000000000000 +0.5000000000000000 0.2500000000000000 2.0000000000000000 +-0.5000000000000000 -0.2500000000000000 1.0000000000000000 +-0.5000000000000000 -0.2500000000000000 0.0000000000000000 +-0.5000000000000000 -0.2500000000000000 -1.0000000000000000 +0.5000000000000000 -0.2500000000000000 -1.0000000000000000 +0.5000000000000000 -0.2500000000000000 0.0000000000000000 +0.5000000000000000 -0.2500000000000000 1.0000000000000000 +-0.5000000000000000 0.2500000000000000 1.0000000000000000 +-0.5000000000000000 0.2500000000000000 0.0000000000000000 +-0.5000000000000000 0.2500000000000000 -1.0000000000000000 +0.5000000000000000 0.2500000000000000 1.0000000000000000 +0.5000000000000000 0.2500000000000000 0.0000000000000000 +0.5000000000000000 0.2500000000000000 -1.0000000000000000 +0.0000000000000000 -0.2500000000000000 -1.5000000000000000 +0.0000000000000000 -0.2500000000000000 -0.5000000000000000 +0.0000000000000000 -0.2500000000000000 0.5000000000000000 +0.0000000000000000 -0.2500000000000000 1.5000000000000000 +0.0000000000000000 0.2500000000000000 1.5000000000000000 +0.0000000000000000 0.2500000000000000 0.5000000000000000 +0.0000000000000000 0.2500000000000000 -0.5000000000000000 +0.0000000000000000 0.2500000000000000 -1.5000000000000000 +CELLS 48 192 +4 22 12 17 13 +4 20 26 21 11 +4 23 8 5 24 +4 11 27 26 19 +4 27 11 26 20 +4 17 22 24 25 +4 7 23 13 6 +4 22 17 24 13 +4 9 25 21 15 +4 24 22 8 14 +4 24 8 22 23 +4 25 9 21 22 +4 23 7 13 24 +4 15 10 16 26 +4 14 25 9 15 +4 25 14 9 22 +4 24 23 22 13 +4 15 10 21 9 +4 15 21 10 26 +4 24 25 22 14 +4 2 11 27 20 +4 7 5 23 6 +4 11 21 12 26 +4 20 1 0 16 +4 18 25 12 17 +4 18 12 25 26 +4 5 7 23 24 +4 26 21 25 15 +4 20 16 27 1 +4 21 25 22 12 +4 20 16 10 26 +4 20 27 16 26 +4 20 10 16 0 +4 11 12 19 26 +4 14 22 8 9 +4 8 23 5 4 +4 24 14 8 5 +4 11 2 27 3 +4 2 27 1 20 +4 12 18 19 26 +4 27 2 1 3 +4 24 13 17 7 +4 20 2 0 1 +4 5 23 6 4 +4 20 10 21 26 +4 12 22 17 25 +4 3 27 11 19 +4 21 26 25 12 +CELL_TYPES 10 diff --git a/data/reduced_beam/beam_mesh_origin.vtk b/data/reduced_beam/beam_mesh_origin.vtk new file mode 100644 index 000000000..95d579d95 --- /dev/null +++ b/data/reduced_beam/beam_mesh_origin.vtk @@ -0,0 +1,83 @@ +#vtk DataFile Version 2.0 +I don't think this matters +ASCII +DATASET UNSTRUCTURED_GRID +POINTS 28 double +0.0000000000000000 0.0000000000000000 0.0000000000000000 +0.0000000000000000 0.5000000000000000 0.0000000000000000 +1.0000000000000000 0.0000000000000000 0.0000000000000000 +1.0000000000000000 0.5000000000000000 0.0000000000000000 +0.0000000000000000 0.0000000000000000 4.0000000000000000 +0.0000000000000000 0.5000000000000000 4.0000000000000000 +1.0000000000000000 0.0000000000000000 4.0000000000000000 +1.0000000000000000 0.5000000000000000 4.0000000000000000 +0.0000000000000000 0.0000000000000000 3.0000000000000000 +0.0000000000000000 0.0000000000000000 2.0000000000000000 +0.0000000000000000 0.0000000000000000 1.0000000000000000 +1.0000000000000000 0.0000000000000000 1.0000000000000000 +1.0000000000000000 0.0000000000000000 2.0000000000000000 +1.0000000000000000 0.0000000000000000 3.0000000000000000 +0.0000000000000000 0.5000000000000000 3.0000000000000000 +0.0000000000000000 0.5000000000000000 2.0000000000000000 +0.0000000000000000 0.5000000000000000 1.0000000000000000 +1.0000000000000000 0.5000000000000000 3.0000000000000000 +1.0000000000000000 0.5000000000000000 2.0000000000000000 +1.0000000000000000 0.5000000000000000 1.0000000000000000 +0.5000000000000000 0.0000000000000000 0.5000000000000000 +0.5000000000000000 0.0000000000000000 1.5000000000000000 +0.5000000000000000 0.0000000000000000 2.5000000000000000 +0.5000000000000000 0.0000000000000000 3.5000000000000000 +0.5000000000000000 0.5000000000000000 3.5000000000000000 +0.5000000000000000 0.5000000000000000 2.5000000000000000 +0.5000000000000000 0.5000000000000000 1.5000000000000000 +0.5000000000000000 0.5000000000000000 0.5000000000000000 +CELLS 48 192 +4 22 12 17 13 +4 20 26 21 11 +4 23 8 5 24 +4 11 27 26 19 +4 27 11 26 20 +4 17 22 24 25 +4 7 23 13 6 +4 22 17 24 13 +4 9 25 21 15 +4 24 22 8 14 +4 24 8 22 23 +4 25 9 21 22 +4 23 7 13 24 +4 15 10 16 26 +4 14 25 9 15 +4 25 14 9 22 +4 24 23 22 13 +4 15 10 21 9 +4 15 21 10 26 +4 24 25 22 14 +4 2 11 27 20 +4 7 5 23 6 +4 11 21 12 26 +4 20 1 0 16 +4 18 25 12 17 +4 18 12 25 26 +4 5 7 23 24 +4 26 21 25 15 +4 20 16 27 1 +4 21 25 22 12 +4 20 16 10 26 +4 20 27 16 26 +4 20 10 16 0 +4 11 12 19 26 +4 14 22 8 9 +4 8 23 5 4 +4 24 14 8 5 +4 11 2 27 3 +4 2 27 1 20 +4 12 18 19 26 +4 27 2 1 3 +4 24 13 17 7 +4 20 2 0 1 +4 5 23 6 4 +4 20 10 21 26 +4 12 22 17 25 +4 3 27 11 19 +4 21 26 25 12 +CELL_TYPES 10 diff --git a/data/reduced_beam/eigenvalues.bin b/data/reduced_beam/eigenvalues.bin Binary files differnew file mode 100644 index 000000000..81e43677a --- /dev/null +++ b/data/reduced_beam/eigenvalues.bin diff --git a/data/reduced_beam/modes.bin b/data/reduced_beam/modes.bin Binary files differnew file mode 100644 index 000000000..6e8239b83 --- /dev/null +++ b/data/reduced_beam/modes.bin diff --git a/data/reduced_beam/reduced_beam.urdf b/data/reduced_beam/reduced_beam.urdf new file mode 100644 index 000000000..88381795e --- /dev/null +++ b/data/reduced_beam/reduced_beam.urdf @@ -0,0 +1,14 @@ +<?xml version="1.0"?> +<robot name="reduced_cube"> + <reduced_deformable name="reduced_beam"> + <num_modes value="20"/> + <mass value="1"/> + <stiffness_scale value="100"/> + <collision_margin value="0.01"/> + <erp value= "0.2"/> + <cfm value= "0.2"/> + <friction value= "0.5"/> + <damping_coefficient value="0.0"/> + <visual filename="beam_mesh_origin.vtk"/> + </reduced_deformable> +</robot> |