<mujoco model="2D grid with pins">
    <!--  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"/>

    <size nconmax="200" njmax="1000" nstack="1000000"/>

    <worldbody>
        <composite type="grid" count="9 9 1" spacing="0.05" offset="0 0 1">
            <skin rgba=".6 .1 .6 1" inflate="0.001" subgrid="3"/>
            <pin coord="0 0"/>
            <pin coord="8 0"/>
            <geom size=".02"/>
        </composite>
    </worldbody>
</mujoco>
