
                    <!--
                    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 0.72'><joint axis='1 0 0' name='L0_D1_joint' pos='0 0 0' range='20.30 175.37' type='hinge'/><geom fromto='0 0 0 0.62 -0.48 -0.02' name='L0_D1_geom' size='0.03' type='capsule'/><inertial mass='0.3'/><body name='L1_D0' pos='0.51 -0.39 -0.01'><joint axis='0 1 0' name='L1_D0_joint' pos='0 0 0' range='9.02 160.35' type='hinge'/><geom fromto='0 0 0 -0.36 -0.39 0.02' name='L1_D0_geom' size='0.03' type='capsule'/><inertial mass='0.3'/></body><body name='L2_D0' pos='0.54 -0.42 -0.02'><joint axis='0 0 1' name='L2_D0_joint' pos='0 0 0' range='39.56 86.12' type='hinge'/><geom fromto='0 0 0 -0.36 0.27 -0.25' name='L2_D0_geom' size='0.06' type='capsule'/><inertial mass='0.3'/></body><body name='L3_D0' pos='0.04 -0.03 -0.00'><joint axis='1 0 0' name='L3_D0_joint' pos='0 0 0' range='123.34 135.55' type='hinge'/><geom fromto='0 0 0 0.24 0.35 -0.39' name='L3_D0_geom' size='0.04' type='capsule'/><inertial mass='0.3'/></body></body><body name='L4_D1' pos='0.00 0.00 0.28'><joint axis='0 0 1' name='L4_D1_joint' pos='0 0 0' range='133.30 140.43' type='hinge'/><geom fromto='0 0 0 0.10 0.42 0.30' name='L4_D1_geom' size='0.04' type='capsule'/><inertial mass='0.3'/><body name='L5_D0' pos='0.09 0.36 0.25'><joint axis='1 0 0' name='L5_D0_joint' pos='0 0 0' range='22.57 111.06' type='hinge'/><geom fromto='0 0 0 0.12 -0.14 -0.33' name='L5_D0_geom' size='0.05' type='capsule'/><inertial mass='0.3'/></body></body></body>
                        </worldbody>
                    </mujoco>
                    
