Alessio Quaglino
d3d46e16a4
PiperOrigin-RevId: 568168329 Change-Id: Ida4a5236bef74828c7bf59affdc28adea3db53b1
56 lines
1.9 KiB
XML
56 lines
1.9 KiB
XML
<!-- 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>
|
|
|
|
<extension>
|
|
<plugin plugin="mujoco.elasticity.shell"/>
|
|
</extension>
|
|
|
|
<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 pos="0 0 1">
|
|
<composite type="particle" count="9 19 1" spacing="0.05" flatinertia="0.01">
|
|
<skin texcoord="true" inflate="0.005" subgrid="4"/>
|
|
<geom type="ellipsoid" size="0.025 0.01 0.025" rgba=".8 .2 .1 1" group="4"/>
|
|
<plugin plugin="mujoco.elasticity.shell">
|
|
<config key="poisson" value="0"/>
|
|
<config key="damping" value="0.001"/>
|
|
<config key="thickness" value="1e-2"/>
|
|
<!--Units are in Pa (SI)-->
|
|
<config key="young" value="3e6"/>
|
|
</plugin>
|
|
</composite>
|
|
</body>
|
|
</worldbody>
|
|
|
|
<equality>
|
|
<connect body1="B0_0_0" anchor="0 0 0" solref="0.0002 1"/>
|
|
</equality>
|
|
</mujoco>
|
|
|