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<?xml version="1.0"?>
<robot name="torus">
<deformable name="torus">
<inertial>
<mass value="1" />
<inertia ixx="0.0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
</inertial>
<collision_margin value="0.006"/>
<repulsion_stiffness value="50.0"/>
<friction value= "0.5"/>
<neohookean mu= "60" lambda= "200" damping= "0.01" />
<visual filename="torus.vtk"/>
</deformable>
</robot>
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