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update per integration testing

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This commit is contained in:
John Hsu 2015-10-23 14:07:29 -07:00
parent ab34af1752
commit dd0e4775a6
1 changed files with 11 additions and 3 deletions
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14
wood_cube_5cm/model.sdf
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@ -25,10 +25,18 @@
<contact>
<poissons_ratio>0.347</poissons_ratio>
<elastic_modulus>8800000000.0</elastic_modulus>
<!--
<poissons_ratio>0.495</poissons_ratio>
<elastic_modulus>610000.0</elastic_modulus>
<poissons_ratio>0.347</poissons_ratio>
<elastic_modulus>4400305000.0</elastic_modulus>
<poissons_ratio>0.347</poissons_ratio>
<elastic_modulus>10000000.0</elastic_modulus>
-->
<ode>
<kp>100000</kp>
<kd>100</kd>
<max_vel>100.0</max_vel>
<kd>1</kd>
<max_vel>1.0</max_vel>
<min_depth>0.001</min_depth>
</ode>
</contact>
@ -36,7 +44,7 @@
<torsional>
<coefficient>1.0</coefficient>
<use_patch_radius>0</use_patch_radius>
<surface_radius>0.01</surface_radius>
<surface_radius>0.05</surface_radius>
</torsional>
</friction>
</surface>