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Body & ground = cat.getGroundBody();

// Anterior body to the ground via a CustomJoint
// `````````````````````````````````````````````
using OpenSim::CustomJoint;
// Rotation is defined via YZX Euler angles, named yaw, pitch, and
// roll respectively.
Vec3 locGAInGround(0);
Vec3 orientGAInGround(0);
Vec3
locGAInAnterior(0);
Vec3 orientGAInAnterior(0);

// To pass to the CustomJoint (farther down), define a SpatialTransform.
// The SpatialTransfrom has 6 transform axes. The first 3 are rotations,
// defined about the axes of our choosing. The remaining 3 are translations,
// which we choose to be along the X, Y, and Z directions of the ground's
// frame.
using OpenSim::Array;
OpenSim::SpatialTransform groundAnteriorST;
groundAnteriorST.updTransformAxis(0).setCoordinateNames(
        Array<std::string>("yaw", 1));
groundAnteriorST.updTransformAxis(0).setAxis(Vec3(0, 1, 0));
groundAnteriorST.updTransformAxis(1).setCoordinateNames(
        Array<std::string>("pitch", 1));
groundAnteriorST.updTransformAxis(1).setAxis(Vec3(0, 0, 1));
groundAnteriorST.updTransformAxis(2).setCoordinateNames(
        Array<std::string>("roll", 1));
groundAnteriorST.updTransformAxis(2).setAxis(Vec3(1, 0, 0));
groundAnteriorST.updTransformAxis(3).setCoordinateNames(
        Array<std::string>("tx", 1));
groundAnteriorST.updTransformAxis(3).setAxis(Vec3(1, 0, 0));
groundAnteriorST.updTransformAxis(4).setCoordinateNames(
        Array<std::string>("ty", 1));
groundAnteriorST.updTransformAxis(4).setAxis(Vec3(0, 1, 0));
groundAnteriorST.updTransformAxis(5).setCoordinateNames(
        Array<std::string>("tz", 1));
groundAnteriorST.updTransformAxis(5).setAxis(Vec3(0, 0, 1));

Vec3 locGAInGround(0);
Vec3 orientGAInGround(0);
Vec3 locGAInAnterior(0);
Vec3 orientGAInAnterior(0);

CustomJoint * groundAnterior = new CustomJoint("ground_anterior",
        ground, locGAInGround, orientGAInGround,
        *anteriorBody, locGAInAnterior, orientGAInAnterior,
        groundAnteriorST);

// Edit the Coordinate's created by the CustomJoint. The 6 coordinates
// correspond to the TransformAxis's we set above.
using OpenSim::CoordinateSet;
using SimTK::convertDegreesToRadians;
using SimTK::Pi;
CoordinateSet & groundAnteriorCS = groundAnterior->upd_CoordinateSet();
// yaw
// As is, the range only affects how one can vary this coordinate in the
// GUI. The range is not a joint limit, and does not affect dynamics.
double groundAnteriorCS0range[2] = {-Pi, Pi};
groundAnteriorCS[0].setRange(groundAnteriorCS0range);
groundAnteriorCS[0].setDefaultValue(0);
groundAnteriorCS[0].setDefaultLocked(false);
// pitch
double groundAnteriorCS1range[2] = {-Pi, Pi};
groundAnteriorCS[1].setRange(groundAnteriorCS1range);
groundAnteriorCS[1].setDefaultValue(convertDegreesToRadians(-15));
groundAnteriorCS[1].setDefaultLocked(false);
// roll
double groundAnteriorCS2range[2] = {-Pi, Pi};
groundAnteriorCS[2].setRange(groundAnteriorCS2range);
groundAnteriorCS[2].setDefaultValue(0);
groundAnteriorCS[2].setDefaultLocked(false);
// tx
double groundAnteriorCS3range[2] = {-1, 1};
groundAnteriorCS[3].setRange(groundAnteriorCS3range);
groundAnteriorCS[3].setDefaultValue(0);
groundAnteriorCS[3].setDefaultLocked(false);
// ty
double groundAnteriorCS4range[2] = {-1, 5};
groundAnteriorCS[4].setRange(groundAnteriorCS4range);
groundAnteriorCS[4].setDefaultValue(0);
groundAnteriorCS[4].setDefaultLocked(false);
// tz
double groundAnteriorCS5range[2] = {-1, 1};
groundAnteriorCS[5].setRange(groundAnteriorCS5range);
groundAnteriorCS[5].setDefaultValue(0);
groundAnteriorCS[5].setDefaultLocked(false); 

// Anterior to posterior body via a CustomJoint
// ````````````````````````````````````````````
// Rotation is defined via ZYX Euler angles.
Vec3
locAPInAnterior(0);
Vec3 orientAPInAnterior(0);
Vec3 locAPInPosterior(0);
Vec3 orientAPInPosterior(0);

OpenSim::SpatialTransform anteriorPosteriorST;
anteriorPosteriorST.updTransformAxis(0).setCoordinateNames(
        Array<std::string>("hunch", 1));
anteriorPosteriorST.updTransformAxis(0).setAxis(Vec3(0, 0, 1));
anteriorPosteriorST.updTransformAxis(1).setCoordinateNames(
        Array<std::string>("wag", 1));
anteriorPosteriorST.updTransformAxis(1).setAxis(Vec3(0, 1, 0));
anteriorPosteriorST.updTransformAxis(2).setCoordinateNames(
        Array<std::string>("twist", 1));
anteriorPosteriorST.updTransformAxis(2).setAxis(Vec3(1, 0, 0));
// There is no translation between the segments, and so we do not name the
// remaining 3 TransformAxis's in the SpatialTransform.

Vec3 locAPInAnterior(0);
Vec3 orientAPInAnterior(0);
Vec3 locAPInPosterior(0);
Vec3 orientAPInPosterior(0);

CustomJoint * anteriorPosterior = new CustomJoint("anterior_posterior",
        *anteriorBody, locAPInAnterior, orientAPInAnterior,
        *posteriorBody, locAPInPosterior, orientAPInPosterior,
        anteriorPosteriorST);

// Set coordinate limits and default values from empirical data (i.e.,
// photos & video).
CoordinateSet & anteriorPosteriorCS = anteriorPosterior->upd_CoordinateSet();
// hunch: [-20, +90] degrees
double anteriorPosteriorCS0range[2] = {convertDegreesToRadians(-20),
                                       convertDegreesToRadians(90)};
anteriorPosteriorCS[0].setRange(anteriorPosteriorCS0range);
anteriorPosteriorCS[0].setDefaultValue(convertDegreesToRadians(30));
anteriorPosteriorCS[0].setDefaultLocked(false);
// wag: [-45, 45] degrees
double anteriorPosteriorCS1range[2] = {-0.25 * Pi, 0.25 * Pi};
anteriorPosteriorCS[1].setRange(anteriorPosteriorCS1range);
anteriorPosteriorCS[1].setDefaultValue(0);
anteriorPosteriorCS[1].setDefaultLocked(false);
// twist: [-80, 80] degrees
double anteriorPosteriorCS2range[2] = {convertDegreesToRadians(-80),
                                       convertDegreesToRadians(80)};
anteriorPosteriorCS[2].setRange(anteriorPosteriorCS2range);
anteriorPosteriorCS[2].setDefaultValue(0);
// This first model can't twist; we'll unlock this for the next model.
anteriorPosteriorCS[2].setDefaultLocked(true);