Alessio Quaglino
110ade1435
PiperOrigin-RevId: 573755821 Change-Id: I3b8d7fb27f0e940038fa9fd2b26ecc746df4f7ac
55 lines
1.8 KiB
XML
55 lines
1.8 KiB
XML
<!-- Copyright 2021 DeepMind Technologies Limited
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Licensed under the Apache License, Version 2.0 (the "License");
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you may not use this file except in compliance with the License.
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You may obtain a copy of the License at
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http://www.apache.org/licenses/LICENSE-2.0
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Unless required by applicable law or agreed to in writing, software
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distributed under the License is distributed on an "AS IS" BASIS,
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WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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See the License for the specific language governing permissions and
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limitations under the License.
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-->
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<mujoco model="Flag">
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<!-- Degree of Freedom (nv): 340
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Tendons (ntendon): 288
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Actuators (nu): 0
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Constraints (nefc): 0
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This model of a flag passively flapping in the wind has no constraints and is designed to
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exert smooth dynamics computations.
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-->
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<statistic center=".4 0 .8" extent="1.3"/>
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<option wind="5 5 0" density="10" solver="CG" tolerance="1e-6">
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</option>
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<extension>
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<plugin plugin="mujoco.elasticity.shell"/>
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</extension>
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<worldbody>
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<geom name="floor" type="plane" size="0 0 .1"/>
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<light diffuse=".6 .6 .6" specular="0.2 0.2 0.2" pos="0 0 4" dir="0 0 -1"/>
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<body name="pin" pos="0 0 1.5">
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<flexcomp type="grid" count="9 19 1" spacing=".05 .05 .05" mass="10"
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name="flag" radius="0.001">
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<edge equality="true" damping="0.001"/>
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<plugin plugin="mujoco.elasticity.shell">
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<config key="poisson" value="0"/>
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<config key="thickness" value="1e-2"/>
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<!--Units are in Pa (SI)-->
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<config key="young" value="3e6"/>
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</plugin>
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</flexcomp>
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</body>
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</worldbody>
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<equality>
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<connect body1="flag_0" anchor="0 0 0"/>
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</equality>
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</mujoco>
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