mujoco

<mujoco model="Leaves">

  <statistic extent="1.5"/>

  <visual>
    <global realtime="0.2" cameraid="0"/>
    <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"/>

  <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>