mujoco

<mujoco model="tendon">
  <default>
    <joint axis="0 1 0" range="0 60" limited="true"/>
    <geom type="capsule" size=".01" rgba=".9 .7 .1 1"/>
    <site rgba=".9 .9 .9 1"/>
    <default class="visual_cylinder">
      <geom type="cylinder" fromto="0 .015 0  0 -.015 0" size=".02" rgba=".3 .9 .3 .4"/>
    </default>
  </default>

  <worldbody>
    <light pos="0 0 1"/>
    <body name="weight" pos="-.03 0 .175">
      <joint axis="0 0 1" pos="0 0 .025" type="slide"/>
      <geom type="cylinder" size=".03 .025" density="5000" rgba=".2 .2 .5 1"/>
      <site name="s1" pos="0 0 .025"/>
    </body>

    <site name="s2" pos="-.03 0 .33"/>

    <body pos="0 0 .3">
      <joint/>
      <geom name="g1" class="visual_cylinder"/>
      <geom fromto="0 0 0  .1 0 0"/>
      <site name="s3" pos=".02 0 .03"/>

      <body pos=".1 0 0">
        <joint/>
        <geom name="g2" class="visual_cylinder"/>
        <geom fromto="0 0 0  .1 0 0"/>
        <site name="s4" pos=".03 0 .01"/>
        <site name="s5" pos=".05 0 .02"/>
        <site name="side2" pos="0 0 .03"/>

        <body pos=".1 0 0">
          <joint/>
          <geom name="g3" class="visual_cylinder"/>
          <geom fromto="0 0 0  .1 0 0"/>
          <site name="s6" pos=".03 0 .01"/>
          <site name="side3" pos="0 0 .03"/>
        </body>
      </body>
    </body>
  </worldbody>

  <tendon>
    <spatial range="0 .33" limited="true" width=".002" rgba=".95 .3 .3 1">
      <site site="s1"/>
      <site site="s2"/>
      <geom geom="g1"/>
      <site site="s3"/>

      <pulley divisor="2"/>
      <site site="s3"/>
      <geom geom="g2" sidesite="side2"/>
      <site site="s4"/>

      <pulley divisor="2"/>
      <site site="s3"/>
      <geom geom="g2" sidesite="side2"/>
      <site site="s5"/>
      <geom geom="g3" sidesite="side3"/>
      <site site="s6"/>
    </spatial>
  </tendon>
</mujoco>