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Revert "Revert "Reduced Deformable Model""
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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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0.0000000000000000 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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CELL_TYPES 10
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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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0.5000000000000000 0.5000000000000000 0.5000000000000000
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CELLS 48 192
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4 2 11 27 20
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4 11 21 12 26
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4 20 1 0 16
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4 18 12 25 26
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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 3 27 11 19
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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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