<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>
