mujoco

<mujoco model="Helix">
  <statistic meansize=".05"/>

  <worldbody>
    <light pos=".5 0 3"/>
    <light pos="-.5 0 3"/>
    <geom type="plane" size="2 2 .01"/>

    <body pos="0 0 .3">
      <freejoint/>
      <replicate count="50" offset="0 0 0.01" euler="0 0 25">
        <geom type="capsule" size=".01 .05" pos="0 -.23 -.2" euler="0 84.5 0" rgba="0 0 1 1"/>
      </replicate>
    </body>


    <body pos=".6 0 .3" euler="0 0 90">
      <freejoint/>
      <replicate count="50" offset="0 0 0.01" euler="0 0 15">
        <geom type="box" pos=".025 -.2 -.2" size=".032 .04 .005" euler="-24 -12 2" rgba=".8 0 0 1"/>
      </replicate>
    </body>

  </worldbody>
</mujoco>