mujoco

<mujoco model="Stonehenge">
  <statistic meansize="1"/>
  <worldbody>
    <light directional="true" pos="-50 -20 10" dir="5 2 -1" diffuse="1 1 1"/>
    <geom type="plane" size="30 30 .1" rgba="0 1 0 1"/>
    <geom type="plane" pos="38 0 5" size="10 30 .1" euler="0 -30 0" rgba="0 .8 0 1"/>

    <body name="wrecking ball" pos="45 0 16">
      <freejoint/>
      <geom size="5.5"/>
    </body>

    <replicate count="30" euler="0 0 12">
      <body pos="0 -15 2">
        <freejoint/>
        <geom type="box" size="1 .5 2"/>
      </body>
      <body pos="1.5 -15 4.4" euler="0 0 6">
        <freejoint/>
        <geom type="box" size="1.5 .5 .4"/>
      </body>
    </replicate>

    <replicate count="5" euler="0 0 45">
      <body pos="-1.2 -10 3">
        <freejoint/>
        <geom type="box" size=".9 .5 3"/>
      </body>
      <body pos="1.2 -10 3">
        <freejoint/>
        <geom type="box" size=".9 .5 3"/>
      </body>
      <body pos="0 -10 6.4">
        <freejoint/>
        <geom type="box" size="2.4 .5 .4"/>
      </body>
    </replicate>

  </worldbody>
</mujoco>