add deformable in urdf

lshil00 · Apr 2, 2020 · c4d45a0 · c4d45a0
1 parent f51c76f
commit c4d45a0
Showing 1 changed file with 13 additions and 0 deletions.
diff --git a/data/torus_deform.urdf 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>