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<!-- 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">
<flag constraint="disable"/>
</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="B0_0" pos="0 0 1">
<composite type="cloth" count="9 19 1" spacing="0.05" flatinertia="0.01">
<joint kind="main" damping="0.001" stiffness=".1"/>
<skin texcoord="true" inflate="0.005" subgrid="4"/>
<geom type="ellipsoid" size="0.025 0.01 0.025" rgba=".8 .2 .1 1"/>
<tendon kind="main" stiffness="100" damping=".001"/>
<tendon kind="shear" stiffness="100" damping=".001"/>
</composite>
</body>
</worldbody>
</mujoco>
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