
                    <!--
                    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 0.72'><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 0.84'><joint axis='0 1 0' name='L0_D1_joint' pos='0 0 0' range='36.84 167.25' type='hinge'/><geom fromto='0 0 0 -0.29 -0.39 0.49' name='L0_D1_geom' size='0.04' type='capsule'/><inertial mass='0.3'/></body><body name='L1_D1' pos='0.00 0.00 0.72'><joint axis='0 1 0' name='L1_D1_joint' pos='0 0 0' range='20.19 74.73' type='hinge'/><geom fromto='0 0 0 0.32 0.09 -0.83' name='L1_D1_geom' size='0.04' type='capsule'/><inertial mass='0.3'/><body name='L2_D0' pos='0.06 0.02 -0.14'><joint axis='0 1 0' name='L2_D0_joint' pos='0 0 0' range='28.09 85.25' type='hinge'/><geom fromto='0 0 0 -0.12 -0.50 0.25' name='L2_D0_geom' size='0.05' type='capsule'/><inertial mass='0.3'/></body><body name='L3_D0' pos='0.04 0.01 -0.11'><joint axis='0 1 0' name='L3_D0_joint' pos='0 0 0' range='47.43 165.19' type='hinge'/><geom fromto='0 0 0 -0.51 -0.25 -0.41' name='L3_D0_geom' size='0.04' type='capsule'/><inertial mass='0.3'/></body><body name='L4_D0' pos='0.16 0.05 -0.41'><joint axis='1 0 0' name='L4_D0_joint' pos='0 0 0' range='38.66 96.83' type='hinge'/><geom fromto='0 0 0 -0.12 0.11 -0.04' name='L4_D0_geom' size='0.06' type='capsule'/><inertial mass='0.3'/></body></body><body name='L5_D1' pos='0.00 0.00 0.54'><joint axis='1 0 0' name='L5_D1_joint' pos='0 0 0' range='60.75 99.33' type='hinge'/><geom fromto='0 0 0 -0.58 0.47 0.20' name='L5_D1_geom' size='0.04' type='capsule'/><inertial mass='0.3'/></body><body name='L6_D1' pos='0.00 0.00 0.66'><joint axis='0 0 1' name='L6_D1_joint' pos='0 0 0' range='66.13 81.65' type='hinge'/><geom fromto='0 0 0 -0.54 -0.51 0.18' name='L6_D1_geom' size='0.03' type='capsule'/><inertial mass='0.3'/><body name='L7_D0' pos='-0.05 -0.05 0.02'><joint axis='0 0 1' name='L7_D0_joint' pos='0 0 0' range='94.07 152.31' type='hinge'/><geom fromto='0 0 0 -0.54 0.26 -0.43' name='L7_D0_geom' size='0.05' type='capsule'/><inertial mass='0.3'/></body><body name='L8_D0' pos='-0.52 -0.48 0.17'><joint axis='1 0 0' name='L8_D0_joint' pos='0 0 0' range='42.89 137.01' type='hinge'/><geom fromto='0 0 0 0.40 0.09 0.16' name='L8_D0_geom' size='0.05' type='capsule'/><inertial mass='0.3'/></body></body></body>
                        </worldbody>
                    </mujoco>
                    
