<mujoco model="Loop">
    <!--  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 timestep="0.002" jacobian="dense"/>

    <size nconmax="100" njmax="300" nstack="50000"/>

    <worldbody>
        <body name="B0" pos="0 0 1">
            <freejoint/>
            <composite type="loop" count="20 1 1" spacing="0.04" offset="0 0 2">
                <joint kind="main" damping="0.005"/>
                <geom type="capsule" size=".01 .015" rgba=".8 .2 .1 1"/>
            </composite>
        </body>
    </worldbody>
</mujoco>
