Saran Tunyasuvunakool
a499b38120
Closes #2 Closes #42 Closes #59 PiperOrigin-RevId: 416794598 Change-Id: I1306df1127d6acecf2323873c0da0910f35d31a0
45 lines
1.6 KiB
XML
45 lines
1.6 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">
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<flag constraint="disable"/>
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</option>
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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="B0_0" pos="0 0 1">
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<composite type="cloth" count="9 19 1" spacing="0.05" flatinertia="0.01">
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<joint kind="main" damping="0.001" stiffness=".1"/>
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<skin texcoord="true" inflate="0.005" subgrid="4"/>
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<geom type="ellipsoid" size="0.025 0.01 0.025" rgba=".8 .2 .1 1"/>
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<tendon kind="main" stiffness="100" damping=".001"/>
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<tendon kind="shear" stiffness="100" damping=".001"/>
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</composite>
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</body>
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</worldbody>
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</mujoco>
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