mujoco

<mujoco>
  <compiler>
    <lengthrange mode="all"/>
  </compiler>

  <worldbody>
    <light pos="0 0 10"/>
    <site name="a" size=".02"/>
    <replicate offset="0 .1 0" count="17">
      <body pos="1 0 1">
        <joint axis="0 -1 0" range="0 90"/>
        <geom type="capsule" size=".02" fromto="0 0 0 0 0 -1"/>
        <site name="b" pos="0 0 -1"/>
      </body>
    </replicate>
  </worldbody>

  <tendon>
    <spatial name="b">
      <site site="a"/>
      <site site="b"/>
    </spatial>
  </tendon>

  <actuator>
    <position name="b" tendon="b" ctrlrange="0 3" kp="100" dampratio="1"/>
  </actuator>
</mujoco>