<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"/>
        <texture builtin="gradient" height="100" rgb1="1 1 1" rgb2="0 0 0" type="skybox" width="100"/>
        <texture builtin="flat" height="1278" mark="cross" markrgb="1 1 1" name="texgeom" random="0.01" rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" type="cube" width="127"/>
        <texture builtin="checker" height="100" name="texplane" rgb1="0 0 0" rgb2="0.8 0.8 0.8" type="2d" width="100"/>
        <material name="MatPlane" reflectance="0.5" shininess="1" specular="1" texrepeat="30 30" texture="texplane"/>
        <material name="geom" texture="texgeom" texuniform="true"/>
    </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" name="shoulder" />
            <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" name="elbow1" />
                <joint type="hinge" pos="0 0 0.6" axis="1 0 0" name="elbow2" />
                <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" name="wrist1"/>
                    <joint type="hinge" pos="0.3 0 0.6" axis="0 0 1" name="wrist2"/>
                </body>
            </body>
        </body>
        <body name="box">
            <!--  x, y, z -->
            <!--  z points up -->
            <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>
    <actuator>
		<motor ctrlrange="-2 2" joint="shoulder" name="shoulder_motor"/>
        <motor ctrlrange="-2 2" joint="elbow1" name="elbow1_motor" />
        <motor ctrlrange="-2 2" joint="elbow2" name="elbow2_motor" />
        <motor ctrlrange="-2 2" joint="wrist1" name="wrist1_motor" />
        <motor ctrlrange="-2 2" joint="wrist2" name="wrist2_motor" />
	</actuator>
</mujoco>
