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<?xml version="1.0"?>
<Node name="DomeRingNode" gravity="0 -9.81 0" dt=".02">
<EulerImplicitSolver name="domeRing_cg_odesolver" printLog="false" />
<CGLinearSolver iterations="25" name="linear solver_dome_ring" tolerance="1.0e-9" threshold="1.0e-9" />
<!-- <MeshObjLoader name="dome_ring_loader" filename="../../../../ros/srs_traj_opt/patient_description/meshes/dome/dome_ring.obj" scale="1"/> -->
<MeshVTKLoader name="vtkDomeRingLoader" filename="../../../../ros/srs_traj_opt/patient_description/meshes/dome/dome_ring.vtu" />
<TetrahedronSetTopologyContainer name="TetraTopologyContainer_dome_ring" src="@vtkDomeRingLoader" />
<MechanicalObject name="dofs" src="@vtkDomeRingLoader" template="Vec3d" showIndices='false' showIndicesScale='4e-5' rx='0' dz='0'/>
<TetrahedronSetGeometryAlgorithms template="Vec3d" name="domeRing_TetraGeomAlgo" drawTetrahedra="1"/>
<TetrahedronSetTopologyAlgorithms template="Vec3d" name="domeRing_TetraTopologyAlgo" />
<TetrahedronSetTopologyModifier name="domeRing_TetraTopologyModifier" />
<DiagonalMass name="computed using mass domeRing_density" massDensity="1" />
<TetrahedronMooneyRivlinFEMForceField template="Vec3d" ParameterSet="1000 100"
materialName="MooneyRivlinIncompressible" youngModulus="10000" poissonRatio="0.45" />
<Node name="DomeRingVisu" tags="Visual" gravity="0 -9.81 0">
<MeshSTLLoader name="domeRingSTLLoader" filename="../../../../ros/srs_traj_opt/patient_description/meshes/dome/dome_ring.stl" />
<OglModel name="DomeRingVisual" src="@domeRingSTLLoader"
dx="0" dy="0" dz="0" rx="0" ry="0" rz="0" color="" scale="1"/>
<BarycentricMapping name="visual mapping" input="@../dofs" output="@DomeRingVisual" />
</Node>
<Node name="DomeRingCollis" gravity="0 -9.81 0" >
<MeshObjLoader name="domeRingCollisLoader" filename="../../../../ros/srs_traj_opt/patient_description/meshes/dome/dome_ring.obj" scale="1"/>
<MechanicalObject template="Vec3d" name="dome-ringcollis-states" src="@domeRingCollisLoader"
dz="0" rx="0" ry="0" rz="0" scale="1"/>
<BarycentricMapping name="dome ring collision mapping" input="@../dofs" output="@DomeRingCollis" />
</Node>
</Node>
<!-- color="0.8549 0.8235 0.6431" -->
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