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<mujoco model="example">
<compiler coordinate="global"/>
<default>
<geom rgba=".8 .6 .4 1"/>
</default>
<asset>
<texture type="skybox" builtin="gradient" rgb1="1 1 1" rgb2=".6 .8 1" width="256" height="256"/>
</asset>
<worldbody>
<light pos="0 1 1" dir="0 -1 -1" diffuse="1 1 1"/>
<body>
<geom type="capsule" fromto="0 0 1 0 0 0.6" size="0.06"/>
<joint type="ball" pos="0 0 1"/>
<body>
<geom type="capsule" fromto="0 0 0.6 0.3 0 0.6" size="0.04"/>
<joint type="hinge" pos="0 0 0.6" axis="0 1 0"/>
<joint type="hinge" pos="0 0 0.6" axis="1 0 0"/>
<body>
<geom type="ellipsoid" pos="0.4 0 0.6" size="0.1 0.08 0.02"/>
<site name="end1" pos="0.5 0 0.6" type="sphere" size="0.01"/>
<joint type="hinge" pos="0.3 0 0.6" axis="0 1 0"/>
<joint type="hinge" pos="0.3 0 0.6" axis="0 0 1"/>
</body>
</body>
</body>
<body>
<geom type="cylinder" fromto="0.5 0 0.2 0.5 0 0" size="0.07"/>
<site name="end2" pos="0.5 0 0.2" type="sphere" size="0.01"/>
<joint type="free"/>
</body>
</worldbody>
<tendon>
<spatial limited="true" range="0 0.6" width="0.005">
<site site="end1"/>
<site site="end2"/>
</spatial>
</tendon>
</mujoco>
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