mujoco

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-->

<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>