
                    <!--
                    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 0.81'><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 0.23'><joint axis='1 0 0' name='L0_D1_joint' pos='0 0 0' range='86.78 136.09' type='hinge'/><geom fromto='0 0 0 0.33 -0.27 0.35' name='L0_D1_geom' size='0.07' type='capsule'/><inertial mass='0.3'/></body><body name='L1_D1' pos='0.00 0.00 0.46'><joint axis='0 0 1' name='L1_D1_joint' pos='0 0 0' range='129.98 147.79' type='hinge'/><geom fromto='0 0 0 0.45 -0.06 0.36' name='L1_D1_geom' size='0.03' type='capsule'/><inertial mass='0.3'/><body name='L2_D0' pos='0.18 -0.02 0.14'><joint axis='0 0 1' name='L2_D0_joint' pos='0 0 0' range='38.46 79.13' type='hinge'/><geom fromto='0 0 0 -0.34 -0.01 0.24' name='L2_D0_geom' size='0.05' type='capsule'/><inertial mass='0.3'/></body></body><body name='L3_D1' pos='0.00 0.00 0.35'><joint axis='1 0 0' name='L3_D1_joint' pos='0 0 0' range='42.82 50.25' type='hinge'/><geom fromto='0 0 0 0.42 0.53 -0.55' name='L3_D1_geom' size='0.05' type='capsule'/><inertial mass='0.3'/></body><body name='L4_D1' pos='0.00 0.00 0.04'><joint axis='1 0 0' name='L4_D1_joint' pos='0 0 0' range='8.08 173.58' type='hinge'/><geom fromto='0 0 0 0.25 -0.23 0.04' name='L4_D1_geom' size='0.04' type='capsule'/><inertial mass='0.3'/><body name='L5_D0' pos='0.04 -0.04 0.01'><joint axis='0 1 0' name='L5_D0_joint' pos='0 0 0' range='5.01 52.74' type='hinge'/><geom fromto='0 0 0 -0.34 -0.21 0.53' name='L5_D0_geom' size='0.06' type='capsule'/><inertial mass='0.3'/></body></body></body>
                        </worldbody>
                    </mujoco>
                    
