
                    <!--
                    joint_number: 7
                    -->
                    <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 0.31'><joint axis='0 1 0' name='L0_D1_joint' pos='0 0 0' range='89.31 133.04' type='hinge'/><geom fromto='0 0 0 -0.61 -0.32 0.38' name='L0_D1_geom' size='0.05' type='capsule'/><inertial mass='0.3'/></body><body name='L1_D1' pos='0.00 0.00 0.39'><joint axis='0 1 0' name='L1_D1_joint' pos='0 0 0' range='102.27 164.38' type='hinge'/><geom fromto='0 0 0 0.06 -0.41 -0.30' name='L1_D1_geom' size='0.05' type='capsule'/><inertial mass='0.3'/></body><body name='L2_D1' pos='0.00 0.00 0.72'><joint axis='1 0 0' name='L2_D1_joint' pos='0 0 0' range='29.81 153.63' type='hinge'/><geom fromto='0 0 0 -0.66 0.09 0.66' name='L2_D1_geom' size='0.05' type='capsule'/><inertial mass='0.3'/><body name='L3_D0' pos='-0.49 0.07 0.50'><joint axis='1 0 0' name='L3_D0_joint' pos='0 0 0' range='22.76 49.86' type='hinge'/><geom fromto='0 0 0 -0.43 -0.34 -0.36' name='L3_D0_geom' size='0.06' type='capsule'/><inertial mass='0.3'/></body><body name='L4_D0' pos='-0.51 0.07 0.52'><joint axis='1 0 0' name='L4_D0_joint' pos='0 0 0' range='73.76 170.26' type='hinge'/><geom fromto='0 0 0 -0.04 -0.12 0.51' name='L4_D0_geom' size='0.04' type='capsule'/><inertial mass='0.3'/></body></body><body name='L5_D1' pos='0.00 0.00 0.33'><joint axis='0 0 1' name='L5_D1_joint' pos='0 0 0' range='105.36 137.02' type='hinge'/><geom fromto='0 0 0 0.22 -0.25 0.03' name='L5_D1_geom' size='0.04' type='capsule'/><inertial mass='0.3'/><body name='L6_D0' pos='0.15 -0.17 0.02'><joint axis='1 0 0' name='L6_D0_joint' pos='0 0 0' range='103.24 111.76' type='hinge'/><geom fromto='0 0 0 0.34 -0.35 0.71' name='L6_D0_geom' size='0.04' type='capsule'/><inertial mass='0.3'/></body></body></body>
                        </worldbody>
                    </mujoco>
                    
