
                    <!--
                    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 1.24'><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 0.08'><joint axis='1 0 0' name='L0_D1_joint' pos='0 0 0' range='89.98 122.26' type='hinge'/><geom fromto='0 0 0 -0.24 -0.59 -0.32' name='L0_D1_geom' size='0.08' type='capsule'/><inertial mass='0.3'/><body name='L1_D0' pos='-0.08 -0.20 -0.11'><joint axis='1 0 0' name='L1_D0_joint' pos='0 0 0' range='47.27 135.14' type='hinge'/><geom fromto='0 0 0 0.62 0.10 -0.54' name='L1_D0_geom' size='0.06' type='capsule'/><inertial mass='0.3'/></body><body name='L2_D0' pos='-0.22 -0.56 -0.30'><joint axis='0 1 0' name='L2_D0_joint' pos='0 0 0' range='15.03 98.50' type='hinge'/><geom fromto='0 0 0 -0.04 0.12 -0.41' name='L2_D0_geom' size='0.05' type='capsule'/><inertial mass='0.3'/></body><body name='L3_D0' pos='-0.13 -0.31 -0.17'><joint axis='1 0 0' name='L3_D0_joint' pos='0 0 0' range='46.43 171.24' type='hinge'/><geom fromto='0 0 0 0.22 0.56 -0.30' name='L3_D0_geom' size='0.07' type='capsule'/><inertial mass='0.3'/></body></body><body name='L4_D1' pos='0.00 0.00 0.77'><joint axis='0 1 0' name='L4_D1_joint' pos='0 0 0' range='144.09 169.04' type='hinge'/><geom fromto='0 0 0 -0.32 -0.59 0.60' name='L4_D1_geom' size='0.05' type='capsule'/><inertial mass='0.3'/><body name='L5_D0' pos='-0.12 -0.22 0.22'><joint axis='1 0 0' name='L5_D0_joint' pos='0 0 0' range='12.47 64.27' type='hinge'/><geom fromto='0 0 0 0.03 0.18 -0.23' name='L5_D0_geom' size='0.04' type='capsule'/><inertial mass='0.3'/></body></body></body>
                        </worldbody>
                    </mujoco>
                    
