<?xml version="1.0"?>
<robot name="reduced_cube">
  <reduced_deformable name="reduced_cube">
    <num_modes value="20"/>
    <mass value="10"/>
    <stiffness_scale value="10"/>
    <collision_margin value="0.01"/>
    <erp value= "0.2"/>
    <cfm value= "0.2"/>
    <friction value= "0.5"/>
    <damping_coefficient value="0.00001"/>
    <visual filename="torus_textured.obj"/>
    <collision filename="torus_mesh.vtk"/>
  </reduced_deformable>
</robot>
