
                    <!--
                    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 0.73'><joint axis='1 0 0' name='L0_D1_joint' pos='0 0 0' range='46.65 113.36' type='hinge'/><geom fromto='0 0 0 0.41 -0.32 -0.36' name='L0_D1_geom' size='0.05' type='capsule'/><inertial mass='0.3'/><body name='L1_D0' pos='0.37 -0.30 -0.33'><joint axis='1 0 0' name='L1_D0_joint' pos='0 0 0' range='89.50 143.97' type='hinge'/><geom fromto='0 0 0 0.59 0.40 0.59' name='L1_D0_geom' size='0.05' type='capsule'/><inertial mass='0.3'/></body><body name='L2_D0' pos='0.09 -0.07 -0.08'><joint axis='0 0 1' name='L2_D0_joint' pos='0 0 0' range='4.08 30.90' type='hinge'/><geom fromto='0 0 0 0.19 -0.69 0.04' name='L2_D0_geom' size='0.06' type='capsule'/><inertial mass='0.3'/></body></body><body name='L3_D1' pos='0.00 0.00 0.64'><joint axis='0 1 0' name='L3_D1_joint' pos='0 0 0' range='78.84 157.15' type='hinge'/><geom fromto='0 0 0 0.04 0.23 -0.25' name='L3_D1_geom' size='0.03' type='capsule'/><inertial mass='0.3'/></body><body name='L4_D1' pos='0.00 0.00 0.14'><joint axis='0 1 0' name='L4_D1_joint' pos='0 0 0' range='29.18 36.23' type='hinge'/><geom fromto='0 0 0 0.05 -0.30 -0.13' name='L4_D1_geom' size='0.06' type='capsule'/><inertial mass='0.3'/><body name='L5_D0' pos='0.04 -0.23 -0.11'><joint axis='1 0 0' name='L5_D0_joint' pos='0 0 0' range='60.58 131.88' type='hinge'/><geom fromto='0 0 0 0.14 -0.40 -0.24' name='L5_D0_geom' size='0.04' type='capsule'/><inertial mass='0.3'/></body></body></body>
                        </worldbody>
                    </mujoco>
                    
