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erwincoumanserwincoumans
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Revert "Revert "Reduced Deformable Model""
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77 files changed

+30447
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‎.gitignore

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# vim temp files
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*.swp
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.vscode/
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.idea/
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cmake-build-debug/

‎data/reduced_beam/K_r_diag_mat.bin

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‎data/reduced_beam/M_diag_mat.bin

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‎data/reduced_beam/M_r_diag_mat.bin

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‎data/reduced_beam/beam_mesh.vtk

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#vtk DataFile Version 2.0
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I don't think this matters
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ASCII
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DATASET UNSTRUCTURED_GRID
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POINTS 28 double
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-0.5000000000000000 -0.2500000000000000 -2.0000000000000000
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-0.5000000000000000 0.2500000000000000 -2.0000000000000000
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0.5000000000000000 -0.2500000000000000 -2.0000000000000000
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0.5000000000000000 0.2500000000000000 -2.0000000000000000
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-0.5000000000000000 -0.2500000000000000 2.0000000000000000
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-0.5000000000000000 0.2500000000000000 2.0000000000000000
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0.5000000000000000 -0.2500000000000000 2.0000000000000000
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0.5000000000000000 0.2500000000000000 2.0000000000000000
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-0.5000000000000000 -0.2500000000000000 1.0000000000000000
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-0.5000000000000000 -0.2500000000000000 0.0000000000000000
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-0.5000000000000000 -0.2500000000000000 -1.0000000000000000
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0.5000000000000000 -0.2500000000000000 -1.0000000000000000
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0.5000000000000000 -0.2500000000000000 0.0000000000000000
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0.5000000000000000 -0.2500000000000000 1.0000000000000000
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-0.5000000000000000 0.2500000000000000 1.0000000000000000
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-0.5000000000000000 0.2500000000000000 0.0000000000000000
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-0.5000000000000000 0.2500000000000000 -1.0000000000000000
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0.5000000000000000 0.2500000000000000 1.0000000000000000
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0.5000000000000000 0.2500000000000000 0.0000000000000000
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0.5000000000000000 0.2500000000000000 -1.0000000000000000
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0.0000000000000000 -0.2500000000000000 -1.5000000000000000
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0.0000000000000000 -0.2500000000000000 -0.5000000000000000
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0.0000000000000000 -0.2500000000000000 0.5000000000000000
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0.0000000000000000 -0.2500000000000000 1.5000000000000000
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0.0000000000000000 0.2500000000000000 1.5000000000000000
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0.0000000000000000 0.2500000000000000 0.5000000000000000
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0.0000000000000000 0.2500000000000000 -0.5000000000000000
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0.0000000000000000 0.2500000000000000 -1.5000000000000000
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CELLS 48 192
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4 3 27 11 19
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CELL_TYPES 10

‎data/reduced_beam/beam_mesh_origin.vtk

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#vtk DataFile Version 2.0
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I don't think this matters
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ASCII
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DATASET UNSTRUCTURED_GRID
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POINTS 28 double
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0.0000000000000000 0.0000000000000000 0.0000000000000000
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0.0000000000000000 0.5000000000000000 0.0000000000000000
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1.0000000000000000 0.0000000000000000 0.0000000000000000
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1.0000000000000000 0.5000000000000000 0.0000000000000000
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0.5000000000000000 0.0000000000000000 1.5000000000000000
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0.5000000000000000 0.0000000000000000 3.5000000000000000
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0.5000000000000000 0.5000000000000000 3.5000000000000000
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0.5000000000000000 0.5000000000000000 2.5000000000000000
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0.5000000000000000 0.5000000000000000 1.5000000000000000
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0.5000000000000000 0.5000000000000000 0.5000000000000000
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CELLS 48 192
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4 22 12 17 13
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4 20 26 21 11
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4 23 8 5 24
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4 11 27 26 19
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4 27 11 26 20
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4 17 22 24 25
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4 7 23 13 6
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4 22 17 24 13
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4 24 22 8 14
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4 24 8 22 23
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4 23 7 13 24
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4 15 10 16 26
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4 14 25 9 15
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4 25 14 9 22
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4 24 23 22 13
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4 15 10 21 9
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4 15 21 10 26
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4 24 25 22 14
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4 2 11 27 20
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4 7 5 23 6
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4 11 21 12 26
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4 20 1 0 16
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4 18 25 12 17
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4 18 12 25 26
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4 5 7 23 24
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4 26 21 25 15
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4 20 16 27 1
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4 21 25 22 12
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4 20 16 10 26
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4 20 27 16 26
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4 20 10 16 0
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4 11 12 19 26
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4 14 22 8 9
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4 8 23 5 4
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4 24 14 8 5
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4 11 2 27 3
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4 2 27 1 20
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4 12 18 19 26
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4 27 2 1 3
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4 20 2 0 1
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4 5 23 6 4
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4 20 10 21 26
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4 12 22 17 25
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4 3 27 11 19
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4 21 26 25 12
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CELL_TYPES 10

‎data/reduced_beam/eigenvalues.bin

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‎data/reduced_beam/modes.bin

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‎data/reduced_beam/reduced_beam.urdf

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<?xml version="1.0"?>
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<robot name="reduced_cube">
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<reduced_deformable name="reduced_beam">
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<num_modes value="20"/>
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<mass value="1"/>
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<stiffness_scale value="100"/>
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<collision_margin value="0.01"/>
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<erp value= "0.2"/>
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<cfm value= "0.2"/>
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<friction value= "0.5"/>
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<damping_coefficient value="0.0"/>
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<visual filename="beam_mesh_origin.vtk"/>
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</reduced_deformable>
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</robot>

‎data/reduced_cube/K_r_diag_mat.bin

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