46 lines
1.6 KiB
XML
46 lines
1.6 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>
|
|
|
|
<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>
|
|
|