<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>
