
                    <!--
                    joint_number: 6
                    -->
                    <mujoco model="randomrobot">
                        <compiler angle="degree" coordinate="global" inertiafromgeom="true"/>
                        <default>
                        <joint armature="0.01" damping=".1" limited="true"/>
                        <geom conaffinity="0" condim="3" contype="1" density="1000" friction="0.8 .1 .1" rgba="0.8 0.6 .4 1"/>
                        </default>
                        <option integrator="RK4" timestep="0.002"/>
                        <worldbody>
                    <body name='torso' pos='0.00 0.00 1.56'><geom fromto='0 0 0 0.00 0.00 1.00' name='torso_geom' size='0.06' type='capsule'/><inertial mass='0.3'/><body name='L0_D1' pos='0.00 0.00 0.85'><joint axis='1 0 0' name='L0_D1_joint' pos='0 0 0' range='47.62 86.11' type='hinge'/><geom fromto='0 0 0 0.03 -0.74 -0.51' name='L0_D1_geom' size='0.03' type='capsule'/><inertial mass='0.3'/><body name='L1_D0' pos='0.02 -0.44 -0.30'><joint axis='0 0 1' name='L1_D0_joint' pos='0 0 0' range='133.95 176.33' type='hinge'/><geom fromto='0 0 0 0.23 -0.43 0.30' name='L1_D0_geom' size='0.05' type='capsule'/><inertial mass='0.3'/></body><body name='L2_D0' pos='0.02 -0.48 -0.33'><joint axis='0 1 0' name='L2_D0_joint' pos='0 0 0' range='79.41 155.17' type='hinge'/><geom fromto='0 0 0 0.66 -0.67 -0.78' name='L2_D0_geom' size='0.06' type='capsule'/><inertial mass='0.3'/></body></body><body name='L3_D1' pos='0.00 0.00 0.08'><joint axis='1 0 0' name='L3_D1_joint' pos='0 0 0' range='46.50 146.47' type='hinge'/><geom fromto='0 0 0 -0.36 -0.25 -0.58' name='L3_D1_geom' size='0.04' type='capsule'/><inertial mass='0.3'/><body name='L4_D0' pos='-0.23 -0.16 -0.37'><joint axis='0 1 0' name='L4_D0_joint' pos='0 0 0' range='122.30 161.60' type='hinge'/><geom fromto='0 0 0 0.33 0.22 -0.67' name='L4_D0_geom' size='0.05' type='capsule'/><inertial mass='0.3'/></body><body name='L5_D0' pos='-0.13 -0.09 -0.21'><joint axis='0 0 1' name='L5_D0_joint' pos='0 0 0' range='96.79 103.57' type='hinge'/><geom fromto='0 0 0 -0.30 0.30 0.09' name='L5_D0_geom' size='0.04' type='capsule'/><inertial mass='0.3'/></body></body></body>
                        </worldbody>
                    </mujoco>
                    
