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Diffstat (limited to 'data/reduced_cube/deform_cube.urdf')
-rw-r--r-- | data/reduced_cube/deform_cube.urdf | 14 |
1 files changed, 14 insertions, 0 deletions
diff --git a/data/reduced_cube/deform_cube.urdf b/data/reduced_cube/deform_cube.urdf new file mode 100644 index 000000000..3faef357a --- /dev/null +++ b/data/reduced_cube/deform_cube.urdf @@ -0,0 +1,14 @@ +<?xml version="1.0"?> +<robot name="cube"> + <deformable name="cube"> + <inertial> + <mass value="10" /> + <inertia ixx="0.0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" /> + </inertial> + <collision_margin value="0.006"/> + <repulsion_stiffness value="800.0"/> + <friction value= "0.5"/> + <neohookean mu= "180" lambda= "600" damping= "0.01" /> + <visual filename="cube_mesh.vtk"/> + </deformable> +</robot>
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