
                    <!--
                    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 0.37'><joint axis='1 0 0' name='L0_D1_joint' pos='0 0 0' range='149.84 174.58' type='hinge'/><geom fromto='0 0 0 0.08 -0.36 0.36' name='L0_D1_geom' size='0.06' type='capsule'/><inertial mass='0.3'/><body name='L1_D0' pos='0.00 -0.00 0.00'><joint axis='0 1 0' name='L1_D0_joint' pos='0 0 0' range='16.31 111.31' type='hinge'/><geom fromto='0 0 0 0.30 0.21 -0.19' name='L1_D0_geom' size='0.05' type='capsule'/><inertial mass='0.3'/></body></body><body name='L2_D1' pos='0.00 0.00 0.84'><joint axis='1 0 0' name='L2_D1_joint' pos='0 0 0' range='29.75 53.33' type='hinge'/><geom fromto='0 0 0 0.35 0.63 -0.39' name='L2_D1_geom' size='0.05' type='capsule'/><inertial mass='0.3'/></body><body name='L3_D1' pos='0.00 0.00 0.99'><joint axis='0 1 0' name='L3_D1_joint' pos='0 0 0' range='20.86 64.52' type='hinge'/><geom fromto='0 0 0 -0.16 -0.42 -0.51' name='L3_D1_geom' size='0.06' type='capsule'/><inertial mass='0.3'/><body name='L4_D0' pos='-0.14 -0.36 -0.43'><joint axis='0 1 0' name='L4_D0_joint' pos='0 0 0' range='85.00 159.70' type='hinge'/><geom fromto='0 0 0 -0.12 -0.28 0.59' name='L4_D0_geom' size='0.04' type='capsule'/><inertial mass='0.3'/></body><body name='L5_D0' pos='-0.16 -0.41 -0.49'><joint axis='0 0 1' name='L5_D0_joint' pos='0 0 0' range='19.96 79.08' type='hinge'/><geom fromto='0 0 0 -0.39 -0.45 -0.14' name='L5_D0_geom' size='0.04' type='capsule'/><inertial mass='0.3'/></body></body></body>
                        </worldbody>
                    </mujoco>
                    
