| <?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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