
                    <!--
                    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 0.63'><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 0.22'><joint axis='0 1 0' name='L0_D1_joint' pos='0 0 0' range='41.41 42.45' type='hinge'/><geom fromto='0 0 0 0.19 -0.12 0.40' name='L0_D1_geom' size='0.04' type='capsule'/><inertial mass='0.3'/><body name='L1_D0' pos='0.12 -0.08 0.26'><joint axis='0 0 1' name='L1_D0_joint' pos='0 0 0' range='39.65 166.97' type='hinge'/><geom fromto='0 0 0 -0.22 -0.45 0.24' name='L1_D0_geom' size='0.05' type='capsule'/><inertial mass='0.3'/></body><body name='L2_D0' pos='0.03 -0.02 0.07'><joint axis='1 0 0' name='L2_D0_joint' pos='0 0 0' range='13.37 167.56' type='hinge'/><geom fromto='0 0 0 0.26 -0.35 -0.32' name='L2_D0_geom' size='0.06' type='capsule'/><inertial mass='0.3'/></body></body><body name='L3_D1' pos='0.00 0.00 0.89'><joint axis='0 0 1' name='L3_D1_joint' pos='0 0 0' range='84.06 169.21' type='hinge'/><geom fromto='0 0 0 0.06 -0.53 0.12' name='L3_D1_geom' size='0.05' type='capsule'/><inertial mass='0.3'/><body name='L4_D0' pos='0.05 -0.42 0.09'><joint axis='1 0 0' name='L4_D0_joint' pos='0 0 0' range='44.98 63.83' type='hinge'/><geom fromto='0 0 0 0.42 0.47 0.21' name='L4_D0_geom' size='0.04' type='capsule'/><inertial mass='0.3'/></body><body name='L5_D0' pos='0.02 -0.21 0.05'><joint axis='0 1 0' name='L5_D0_joint' pos='0 0 0' range='66.67 109.31' type='hinge'/><geom fromto='0 0 0 -0.21 -0.49 0.34' name='L5_D0_geom' size='0.06' type='capsule'/><inertial mass='0.3'/></body></body></body>
                        </worldbody>
                    </mujoco>
                    
