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