
                    <!--
                    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 0.77'><joint axis='0 0 1' name='L0_D1_joint' pos='0 0 0' range='30.44 136.90' type='hinge'/><geom fromto='0 0 0 -0.31 0.27 0.30' name='L0_D1_geom' size='0.07' type='capsule'/><inertial mass='0.3'/></body><body name='L1_D1' pos='0.00 0.00 0.15'><joint axis='1 0 0' name='L1_D1_joint' pos='0 0 0' range='130.94 157.97' type='hinge'/><geom fromto='0 0 0 -0.49 -0.41 0.45' name='L1_D1_geom' size='0.05' type='capsule'/><inertial mass='0.3'/><body name='L2_D0' pos='-0.35 -0.29 0.32'><joint axis='0 1 0' name='L2_D0_joint' pos='0 0 0' range='92.36 111.20' type='hinge'/><geom fromto='0 0 0 -0.07 0.33 -0.60' name='L2_D0_geom' size='0.04' type='capsule'/><inertial mass='0.3'/></body><body name='L3_D0' pos='-0.19 -0.16 0.18'><joint axis='0 1 0' name='L3_D0_joint' pos='0 0 0' range='67.05 114.83' type='hinge'/><geom fromto='0 0 0 -0.23 0.09 0.56' name='L3_D0_geom' size='0.05' type='capsule'/><inertial mass='0.3'/></body></body><body name='L4_D1' pos='0.00 0.00 0.35'><joint axis='0 1 0' name='L4_D1_joint' pos='0 0 0' range='47.20 54.16' type='hinge'/><geom fromto='0 0 0 -0.39 -0.37 0.66' name='L4_D1_geom' size='0.04' type='capsule'/><inertial mass='0.3'/><body name='L5_D0' pos='-0.02 -0.01 0.03'><joint axis='0 1 0' name='L5_D0_joint' pos='0 0 0' range='87.58 172.23' type='hinge'/><geom fromto='0 0 0 0.07 -0.60 0.18' name='L5_D0_geom' size='0.05' type='capsule'/><inertial mass='0.3'/></body><body name='L6_D0' pos='-0.02 -0.02 0.04'><joint axis='0 1 0' name='L6_D0_joint' pos='0 0 0' range='37.93 124.96' type='hinge'/><geom fromto='0 0 0 0.03 0.30 -0.46' name='L6_D0_geom' size='0.04' type='capsule'/><inertial mass='0.3'/></body></body><body name='L7_D1' pos='0.00 0.00 0.56'><joint axis='1 0 0' name='L7_D1_joint' pos='0 0 0' range='37.73 103.82' type='hinge'/><geom fromto='0 0 0 -0.19 -0.35 0.15' name='L7_D1_geom' size='0.04' type='capsule'/><inertial mass='0.3'/><body name='L8_D0' pos='-0.11 -0.21 0.09'><joint axis='0 1 0' name='L8_D0_joint' pos='0 0 0' range='31.47 151.99' type='hinge'/><geom fromto='0 0 0 -0.41 -0.56 0.27' name='L8_D0_geom' size='0.04' type='capsule'/><inertial mass='0.3'/></body></body></body>
                        </worldbody>
                    </mujoco>
                    
