mujoco

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<mujoco model="Basket">
  <include file="scene.xml"/>

  <compiler autolimits="true"/>

  <option solver="CG" tolerance="1e-6" timestep="0.001"/>

  <size memory="10M"/>

  <visual>
    <map stiffness="100"/>
  </visual>

  <worldbody>
    <flexcomp type="box" count="8 8 8" spacing=".1 .1 .1" pos="0 0 1"
              radius=".01" rgba=".68 .53 .38 1" name="box" dim="2" mass="0.25">
      <contact condim="3" solref="0.01 1" solimp=".95 .99 .0001" selfcollide="none"/>
      <edge equality="true" damping="1"/>
      <elasticity young="6e6" poisson="0.2" thickness="8e-3" elastic2d="bend" damping="1e-5"/>
    </flexcomp>

    <replicate count="3" offset=".2 0 0">
      <replicate count="3" offset="0 .2 0">
        <replicate count="5" offset="0 0 .2">
          <body name="ball" pos="-.2 -.2 1.8">
            <freejoint/>
            <geom type="sphere" size="0.1" rgba="1 0 .2 1" mass=".03"/>
          </body>
        </replicate>
      </replicate>
    </replicate>
  </worldbody>
</mujoco>