<mujoco model="Particle">
    <!--  Copyright © 2018, Roboti LLC

          This file is licensed under the MuJoCo Resource License (the "License").
          You may not use this file except in compliance with the License.
          You may obtain a copy of the License at

            https://www.roboti.us/resourcelicense.txt
    -->

    <include file="scene.xml"/>

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

    <size nconmax="3000" njmax="3000" nstack="50000000"/>

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

    <worldbody>
        <composite type="particle" count="10 10 10" spacing="0.07" offset="0 0 1">
            <geom size=".02" rgba=".8 .2 .1 1"/>
        </composite>
    </worldbody>
</mujoco>
