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<mujoco model="example">
<compiler angle="radian" />
<size njmax="500" nconmax="100" />
<default class="main">
<geom size="0" rgba="0.8 0.6 0.4 1" />
<site size="0" />
</default>
<asset>
<texture type="skybox" builtin="gradient" rgb1="1 1 1" rgb2="0.6 0.8 1" width="256" height="1536" />
</asset>
<worldbody>
<light pos="0 1 1" dir="0 -0.707107 -0.707107" diffuse="1 1 1" />
<body pos="0 0 0.8">
<inertial pos="0 0 0" mass="5.20248" diaginertia="0.0964192 0.0964192 0.00936446" />
<joint pos="0 0 0.2" type="ball" />
<geom type="capsule" size="0.06 0.2" />
<body pos="0.15 0 -0.2" quat="0.707107 0 -0.707107 0">
<inertial pos="0 0 0" mass="1.70903" diaginertia="0.0171472 0.0171472 0.00136722" />
<joint pos="0 0 0.15" axis="0 1 0" />
<joint pos="0 0 0.15" axis="0 0 -1" />
<geom type="capsule" size="0.04 0.15" />
<body pos="0 0 -0.25" quat="0.707107 0 0.707107 0">
<inertial pos="0 0 0" mass="0.670206" diaginertia="0.000911481 0.00139403 0.00219828" />
<joint pos="-0.1 0 0" axis="0 1 0" />
<joint pos="-0.1 0 0" axis="0 0 1" />
<geom type="ellipsoid" size="0.1 0.08 0.02" />
<site name="end1" pos="0.1 0 0" size="0.01" />
</body>
</body>
</body>
<body pos="0.5 0 0.1">
<inertial pos="0 0 0" mass="3.07876" diaginertia="0.014034 0.014034 0.00754296" />
<joint type="free" />
<geom type="cylinder" size="0.07 0.1" />
<site name="end2" pos="0 0 0.1" size="0.01" />
</body>
</worldbody>
<tendon>
<spatial limited="true" width="0.005" range="0 0.6">
<site site="end1" />
<site site="end2" />
</spatial>
</tendon>
</mujoco>
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