mujoco

<!-- 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

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     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="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>