
                    <!--
                    joint_number: 10
                    -->
                    <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 1.12'><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 0.96'><joint axis='0 0 1' name='L0_D1_joint' pos='0 0 0' range='65.95 127.74' type='hinge'/><geom fromto='0 0 0 0.18 0.05 0.14' name='L0_D1_geom' size='0.05' type='capsule'/><inertial mass='0.3'/><body name='L1_D0' pos='0.16 0.05 0.12'><joint axis='0 0 1' name='L1_D0_joint' pos='0 0 0' range='62.55 101.24' type='hinge'/><geom fromto='0 0 0 -0.12 0.49 0.89' name='L1_D0_geom' size='0.04' type='capsule'/><inertial mass='0.3'/></body></body><body name='L2_D1' pos='0.00 0.00 0.53'><joint axis='0 0 1' name='L2_D1_joint' pos='0 0 0' range='47.33 123.18' type='hinge'/><geom fromto='0 0 0 0.02 -0.08 0.33' name='L2_D1_geom' size='0.03' type='capsule'/><inertial mass='0.3'/><body name='L3_D0' pos='0.01 -0.03 0.14'><joint axis='0 0 1' name='L3_D0_joint' pos='0 0 0' range='9.13 179.93' type='hinge'/><geom fromto='0 0 0 0.44 0.32 -0.61' name='L3_D0_geom' size='0.04' type='capsule'/><inertial mass='0.3'/></body><body name='L4_D0' pos='0.01 -0.06 0.23'><joint axis='1 0 0' name='L4_D0_joint' pos='0 0 0' range='83.37 127.75' type='hinge'/><geom fromto='0 0 0 0.33 -0.12 -0.35' name='L4_D0_geom' size='0.06' type='capsule'/><inertial mass='0.3'/></body><body name='L5_D0' pos='0.01 -0.04 0.17'><joint axis='0 0 1' name='L5_D0_joint' pos='0 0 0' range='70.61 167.83' type='hinge'/><geom fromto='0 0 0 0.34 -0.29 -0.10' name='L5_D0_geom' size='0.03' type='capsule'/><inertial mass='0.3'/></body></body><body name='L6_D1' pos='0.00 0.00 0.16'><joint axis='0 1 0' name='L6_D1_joint' pos='0 0 0' range='11.12 105.99' type='hinge'/><geom fromto='0 0 0 0.05 0.72 -0.43' name='L6_D1_geom' size='0.05' type='capsule'/><inertial mass='0.3'/><body name='L7_D0' pos='0.05 0.69 -0.41'><joint axis='1 0 0' name='L7_D0_joint' pos='0 0 0' range='23.47 129.88' type='hinge'/><geom fromto='0 0 0 0.12 0.44 -0.27' name='L7_D0_geom' size='0.04' type='capsule'/><inertial mass='0.3'/></body><body name='L8_D0' pos='0.03 0.45 -0.27'><joint axis='0 0 1' name='L8_D0_joint' pos='0 0 0' range='3.28 6.23' type='hinge'/><geom fromto='0 0 0 -0.68 0.25 -0.14' name='L8_D0_geom' size='0.06' type='capsule'/><inertial mass='0.3'/></body></body><body name='L9_D1' pos='0.00 0.00 0.95'><joint axis='0 1 0' name='L9_D1_joint' pos='0 0 0' range='107.72 157.57' type='hinge'/><geom fromto='0 0 0 -0.10 0.11 -0.43' name='L9_D1_geom' size='0.03' type='capsule'/><inertial mass='0.3'/></body></body>
                        </worldbody>
                    </mujoco>
                    
