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<?xml version="1.0"?>
<robot name="reduced_cube">
<reduced_deformable name="reduced_cube">
<num_modes value="20"/>
<mass value="10"/>
<stiffness_scale value="10"/>
<collision_margin value="0.01"/>
<erp value= "0.2"/>
<cfm value= "0.2"/>
<friction value= "0.5"/>
<damping_coefficient value="0.00001"/>
<visual filename="torus_textured.obj"/>
<collision filename="torus_mesh.vtk"/>
</reduced_deformable>
</robot>
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