I wrote this code when I was trying to figure out how to work with limbs. If you have any questions about this code, just ask.
sync on
sync rate 60
backdrop on
color backdrop 0
autocam off
position camera 0, 0, -100
make object sphere 1, 5
make object cylinder 2, 20
offset limb 2, 0, 0, -10, 0
make mesh from object 1, 1
make mesh from object 2, 2
delete object 2
add limb 1, 1, 2
scale limb 1, 1, 25, 100, 25
link limb 1, 0, 1
add limb 1, 2, 1
scale limb 1, 2, 400, 100, 400
offset limb 1, 2, 0, -20, 0
link limb 1, 1, 2
add limb 1, 3, 2
scale limb 1, 3, 25, 100, 25
link limb 1, 2, 3
color limb 1, 0, 0xFFFF0000
color limb 1, 1, 0xFF0000FF
color limb 1, 2, 0xFFFF0000
color limb 1, 3, 0xFF0000FF
set ambient light 0
set directional light 0, 0, 0, 1
do
rotate limb 1, 3, 0, 0, wrapvalue(limb angle z(1, 3)+rightkey()-leftkey())
rotate limb 1, 1, 0, 0, wrapvalue(limb angle z(1, 1)+upkey()-downkey())
sync
loop