
                    <!--
                    joint_number: 9
                    -->
                    <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 0.78'><joint axis='0 0 1' name='L0_D1_joint' pos='0 0 0' range='79.36 164.29' type='hinge'/><geom fromto='0 0 0 0.04 -0.44 0.14' name='L0_D1_geom' size='0.06' type='capsule'/><inertial mass='0.3'/><body name='L1_D0' pos='0.01 -0.10 0.03'><joint axis='1 0 0' name='L1_D0_joint' pos='0 0 0' range='27.06 118.65' type='hinge'/><geom fromto='0 0 0 -0.41 -0.18 -0.24' name='L1_D0_geom' size='0.05' type='capsule'/><inertial mass='0.3'/></body><body name='L2_D0' pos='0.02 -0.28 0.09'><joint axis='1 0 0' name='L2_D0_joint' pos='0 0 0' range='10.42 52.15' type='hinge'/><geom fromto='0 0 0 -0.27 0.20 0.02' name='L2_D0_geom' size='0.04' type='capsule'/><inertial mass='0.3'/></body></body><body name='L3_D1' pos='0.00 0.00 0.66'><joint axis='0 1 0' name='L3_D1_joint' pos='0 0 0' range='71.56 152.15' type='hinge'/><geom fromto='0 0 0 -0.31 0.23 0.13' name='L3_D1_geom' size='0.04' type='capsule'/><inertial mass='0.3'/><body name='L4_D0' pos='-0.26 0.19 0.11'><joint axis='0 0 1' name='L4_D0_joint' pos='0 0 0' range='56.00 103.77' type='hinge'/><geom fromto='0 0 0 0.28 -0.67 -0.45' name='L4_D0_geom' size='0.04' type='capsule'/><inertial mass='0.3'/></body></body><body name='L5_D1' pos='0.00 0.00 0.64'><joint axis='0 1 0' name='L5_D1_joint' pos='0 0 0' range='48.52 159.71' type='hinge'/><geom fromto='0 0 0 -0.27 0.25 0.09' name='L5_D1_geom' size='0.06' type='capsule'/><inertial mass='0.3'/><body name='L6_D0' pos='-0.24 0.23 0.08'><joint axis='0 0 1' name='L6_D0_joint' pos='0 0 0' range='126.33 130.51' type='hinge'/><geom fromto='0 0 0 -0.16 -0.17 -0.40' name='L6_D0_geom' size='0.04' type='capsule'/><inertial mass='0.3'/></body><body name='L7_D0' pos='-0.13 0.12 0.04'><joint axis='0 1 0' name='L7_D0_joint' pos='0 0 0' range='2.36 15.03' type='hinge'/><geom fromto='0 0 0 0.30 0.28 0.58' name='L7_D0_geom' size='0.05' type='capsule'/><inertial mass='0.3'/></body></body><body name='L8_D1' pos='0.00 0.00 0.92'><joint axis='0 0 1' name='L8_D1_joint' pos='0 0 0' range='12.08 48.73' type='hinge'/><geom fromto='0 0 0 0.13 0.34 0.64' name='L8_D1_geom' size='0.05' type='capsule'/><inertial mass='0.3'/></body></body>
                        </worldbody>
                    </mujoco>
                    
