| <!-- Copyright 2021 DeepMind Technologies Limited | |
| Licensed under the Apache License, Version 2.0 (the "License"); | |
| you may not use this file except in compliance with the License. | |
| You may obtain a copy of the License at | |
| http://www.apache.org/licenses/LICENSE-2.0 | |
| Unless required by applicable law or agreed to in writing, software | |
| distributed under the License is distributed on an "AS IS" BASIS, | |
| WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | |
| See the License for the specific language governing permissions and | |
| limitations under the License. | |
| --> | |
| <mujoco model="Flag"> | |
| <!-- Degree of Freedom (nv): 340 | |
| Tendons (ntendon): 288 | |
| Actuators (nu): 0 | |
| Constraints (nefc): 0 | |
| This model of a flag passively flapping in the wind has no constraints and is designed to | |
| exert smooth dynamics computations. | |
| --> | |
| <statistic center=".4 0 .8" extent="1.3"/> | |
| <option wind="5 5 0" density="10" solver="CG" tolerance="1e-6"> | |
| </option> | |
| <worldbody> | |
| <geom name="floor" type="plane" size="0 0 .1"/> | |
| <light diffuse=".6 .6 .6" specular="0.2 0.2 0.2" pos="0 0 4" dir="0 0 -1"/> | |
| <body name="pin" pos="0 0 1.5"> | |
| <flexcomp type="grid" count="9 19 1" spacing=".05 .05 .05" mass="10" | |
| name="flag" radius="0.001"> | |
| <edge equality="true" damping="0.001"/> | |
| <elasticity poisson="0" thickness="1e-2" young="3e6" elastic2d="none"/> | |
| </flexcomp> | |
| </body> | |
| </worldbody> | |
| <equality> | |
| <connect body1="flag_0" anchor="0 0 0"/> | |
| </equality> | |
| </mujoco> | |