51 lines
1.8 KiB
XML
51 lines
1.8 KiB
XML
<mujoco model="Leaves">
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<statistic extent="1.5"/>
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<visual>
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<rgba haze="0.15 0.25 0.35 1"/>
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<map shadowscale="0.5" zfar="40"/>
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</visual>
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<asset>
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<texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="64" height="64"/>
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<texture name="texplane" type="2d" builtin="checker" rgb1=".2 .3 .4" rgb2=".1 0.15 0.2" width="512" height="512" mark="cross" markrgb=".8 .8 .8"/>
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<material name="matplane" reflectance="0.3" texture="texplane" texrepeat="1 1" texuniform="true"/>
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</asset>
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<size memory="1G"/>
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<option solver="CG" tolerance="1e-6" timestep=".003" density="1.225" viscosity="1.8e-5" integrator="implicitfast"/>
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<visual>
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<global realtime="0.2"/>
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</visual>
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<default>
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<default class="leaf">
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<geom type="ellipsoid" size=".025 .01 0.001" mass="1e-4" fluidshape="ellipsoid" rgba="0 .4 0 1"/>
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</default>
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</default>
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<worldbody>
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<camera name="Cinematic" pos="0 -1.6 4.5" xyaxes="1 0 0 0 0.6 0.8" mode="trackcom"/>
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<light diffuse="1 1 1" attenuation=".4 .2 0" pos="-1 -1 6" mode="trackcom" dir="1 1 -3"/>
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<light diffuse="1 1 1" attenuation=".4 .2 0" pos="-.98 -1.02 6" mode="trackcom" dir="1 1 -3"/>
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<geom name="ground" type="plane" size="5 5 .01" pos="0 0 0" quat="1 0 0 0" material="matplane" condim="1"/>
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<replicate count="10" offset="0 0 0.07" euler="0 0 30">
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<replicate count="6" euler="-3 0 0">
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<frame pos="-.3 -.3 3">
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<replicate count="5" offset=".05 0 0" euler="50 0 0">
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<body euler="50 50 0">
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<freejoint/>
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<geom class="leaf" pos=".025 0 0" euler="10 0 0"/>
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<geom class="leaf" pos="-.025 0 0" euler="-14 0 0" mass="1.2e-4"/>
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</body>
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</replicate>
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</frame>
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</replicate>
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</replicate>
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</worldbody>
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</mujoco>
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