
                    <!--
                    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 0.60'><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 0.57'><joint axis='0 1 0' name='L0_D1_joint' pos='0 0 0' range='116.67 168.04' type='hinge'/><geom fromto='0 0 0 0.34 -0.40 0.03' name='L0_D1_geom' size='0.05' type='capsule'/><inertial mass='0.3'/><body name='L1_D0' pos='0.18 -0.21 0.02'><joint axis='0 1 0' name='L1_D0_joint' pos='0 0 0' range='22.10 65.94' type='hinge'/><geom fromto='0 0 0 -0.44 -0.59 -0.12' name='L1_D0_geom' size='0.05' type='capsule'/><inertial mass='0.3'/></body><body name='L2_D0' pos='0.14 -0.16 0.01'><joint axis='1 0 0' name='L2_D0_joint' pos='0 0 0' range='120.82 127.98' type='hinge'/><geom fromto='0 0 0 0.04 -0.23 -0.30' name='L2_D0_geom' size='0.06' type='capsule'/><inertial mass='0.3'/></body></body><body name='L3_D1' pos='0.00 0.00 0.94'><joint axis='1 0 0' name='L3_D1_joint' pos='0 0 0' range='87.71 144.67' type='hinge'/><geom fromto='0 0 0 0.63 -0.54 0.65' name='L3_D1_geom' size='0.05' type='capsule'/><inertial mass='0.3'/></body><body name='L4_D1' pos='0.00 0.00 0.78'><joint axis='0 0 1' name='L4_D1_joint' pos='0 0 0' range='51.84 178.79' type='hinge'/><geom fromto='0 0 0 0.38 -0.06 0.17' name='L4_D1_geom' size='0.04' type='capsule'/><inertial mass='0.3'/><body name='L5_D0' pos='0.22 -0.03 0.10'><joint axis='0 1 0' name='L5_D0_joint' pos='0 0 0' range='34.49 130.81' type='hinge'/><geom fromto='0 0 0 0.36 -0.06 0.37' name='L5_D0_geom' size='0.06' type='capsule'/><inertial mass='0.3'/></body></body></body>
                        </worldbody>
                    </mujoco>
                    
