
                    <!--
                    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 0.67'><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 0.03'><joint axis='0 1 0' name='L0_D1_joint' pos='0 0 0' range='41.07 43.25' type='hinge'/><geom fromto='0 0 0 -0.54 0.29 0.66' name='L0_D1_geom' size='0.04' type='capsule'/><inertial mass='0.3'/><body name='L1_D0' pos='-0.01 0.01 0.02'><joint axis='1 0 0' name='L1_D0_joint' pos='0 0 0' range='8.60 159.09' type='hinge'/><geom fromto='0 0 0 -0.33 0.45 0.40' name='L1_D0_geom' size='0.06' type='capsule'/><inertial mass='0.3'/></body></body><body name='L2_D1' pos='0.00 0.00 0.51'><joint axis='1 0 0' name='L2_D1_joint' pos='0 0 0' range='41.80 70.25' type='hinge'/><geom fromto='0 0 0 -0.03 -0.34 -0.28' name='L2_D1_geom' size='0.05' type='capsule'/><inertial mass='0.3'/><body name='L3_D0' pos='-0.02 -0.29 -0.25'><joint axis='0 0 1' name='L3_D0_joint' pos='0 0 0' range='29.40 45.06' type='hinge'/><geom fromto='0 0 0 -0.19 -0.14 0.87' name='L3_D0_geom' size='0.07' type='capsule'/><inertial mass='0.3'/></body><body name='L4_D0' pos='-0.02 -0.29 -0.24'><joint axis='1 0 0' name='L4_D0_joint' pos='0 0 0' range='35.47 49.70' type='hinge'/><geom fromto='0 0 0 -0.00 -0.05 -0.33' name='L4_D0_geom' size='0.03' type='capsule'/><inertial mass='0.3'/></body></body><body name='L5_D1' pos='0.00 0.00 0.06'><joint axis='0 0 1' name='L5_D1_joint' pos='0 0 0' range='58.41 77.67' type='hinge'/><geom fromto='0 0 0 -0.38 -0.03 0.26' name='L5_D1_geom' size='0.05' type='capsule'/><inertial mass='0.3'/><body name='L6_D0' pos='-0.13 -0.01 0.09'><joint axis='0 1 0' name='L6_D0_joint' pos='0 0 0' range='68.16 86.00' type='hinge'/><geom fromto='0 0 0 0.55 -0.68 -0.07' name='L6_D0_geom' size='0.06' type='capsule'/><inertial mass='0.3'/></body><body name='L7_D0' pos='-0.13 -0.01 0.09'><joint axis='1 0 0' name='L7_D0_joint' pos='0 0 0' range='23.16 111.13' type='hinge'/><geom fromto='0 0 0 0.23 -0.61 0.48' name='L7_D0_geom' size='0.07' type='capsule'/><inertial mass='0.3'/></body></body><body name='L8_D1' pos='0.00 0.00 0.29'><joint axis='0 0 1' name='L8_D1_joint' pos='0 0 0' range='149.76 170.30' type='hinge'/><geom fromto='0 0 0 -0.21 -0.38 -0.06' name='L8_D1_geom' size='0.06' type='capsule'/><inertial mass='0.3'/></body></body>
                        </worldbody>
                    </mujoco>
                    
