<!-- ChineseCA 空间 · 示例人形机器人（12 个位置执行器）。另存为 robot.xml 打成 .zip 上传；外观 .glb 里起同名节点（pelvis、torso、head、l_thigh…）就能绑定。 -->
<mujoco model="示例人形机器人">
  <compiler angle="degree"/>
  <option timestep="0.002" integrator="implicitfast"/>
  <default>
    <joint damping="2" armature="0.02"/>
    <geom rgba="0.78 0.79 0.8 1" friction="1 0.005 0.0001"/>
    <position kp="400" kv="20" ctrlrange="-1.5 1.5"/>
  </default>
  <worldbody>
    <body name="pelvis" pos="0 0 0.95">
      <freejoint/>
      <geom type="box" size="0.11 0.15 0.06" mass="8"/>
      <body name="torso" pos="0 0 0.08">
        <joint name="waist" type="hinge" axis="0 0 1" range="-45 45"/>
        <geom type="box" size="0.1 0.16 0.2" pos="0 0 0.22" mass="12"/>
        <body name="head" pos="0 0 0.5">
          <joint name="neck" type="hinge" axis="0 0 1" range="-60 60"/>
          <geom type="sphere" size="0.1" pos="0 0 0.08" mass="2"/>
        </body>
        <body name="l_upperarm" pos="0 0.21 0.38">
          <joint name="l_shoulder" type="hinge" axis="0 1 0" range="-150 60"/>
          <geom type="capsule" fromto="0 0 0 0 0 -0.26" size="0.04" mass="1.5"/>
          <body name="l_forearm" pos="0 0 -0.28">
            <joint name="l_elbow" type="hinge" axis="0 1 0" range="-130 0"/>
            <geom type="capsule" fromto="0 0 0 0 0 -0.24" size="0.035" mass="1"/>
          </body>
        </body>
        <body name="r_upperarm" pos="0 -0.21 0.38">
          <joint name="r_shoulder" type="hinge" axis="0 1 0" range="-150 60"/>
          <geom type="capsule" fromto="0 0 0 0 0 -0.26" size="0.04" mass="1.5"/>
          <body name="r_forearm" pos="0 0 -0.28">
            <joint name="r_elbow" type="hinge" axis="0 1 0" range="-130 0"/>
            <geom type="capsule" fromto="0 0 0 0 0 -0.24" size="0.035" mass="1"/>
          </body>
        </body>
      </body>
      <body name="l_thigh" pos="0 0.09 -0.06">
        <joint name="l_hip" type="hinge" axis="0 1 0" range="-90 45"/>
        <geom type="capsule" fromto="0 0 0 0 0 -0.38" size="0.055" mass="4"/>
        <body name="l_shin" pos="0 0 -0.4">
          <joint name="l_knee" type="hinge" axis="0 1 0" range="0 130"/>
          <geom type="capsule" fromto="0 0 0 0 0 -0.38" size="0.045" mass="3"/>
          <body name="l_foot" pos="0 0 -0.42">
            <joint name="l_ankle" type="hinge" axis="0 1 0" range="-45 45"/>
            <geom type="box" size="0.12 0.05 0.025" pos="0.03 0 -0.005" mass="1"/>
          </body>
        </body>
      </body>
      <body name="r_thigh" pos="0 -0.09 -0.06">
        <joint name="r_hip" type="hinge" axis="0 1 0" range="-90 45"/>
        <geom type="capsule" fromto="0 0 0 0 0 -0.38" size="0.055" mass="4"/>
        <body name="r_shin" pos="0 0 -0.4">
          <joint name="r_knee" type="hinge" axis="0 1 0" range="0 130"/>
          <geom type="capsule" fromto="0 0 0 0 0 -0.38" size="0.045" mass="3"/>
          <body name="r_foot" pos="0 0 -0.42">
            <joint name="r_ankle" type="hinge" axis="0 1 0" range="-45 45"/>
            <geom type="box" size="0.12 0.05 0.025" pos="0.03 0 -0.005" mass="1"/>
          </body>
        </body>
      </body>
    </body>
  </worldbody>
  <actuator>
    <position name="腰" joint="waist"/><position name="脖子" joint="neck"/>
    <position name="左肩" joint="l_shoulder"/><position name="左肘" joint="l_elbow"/>
    <position name="右肩" joint="r_shoulder"/><position name="右肘" joint="r_elbow"/>
    <position name="左髋" joint="l_hip"/><position name="左膝" joint="l_knee"/><position name="左踝" joint="l_ankle"/>
    <position name="右髋" joint="r_hip"/><position name="右膝" joint="r_knee"/><position name="右踝" joint="r_ankle"/>
  </actuator>
</mujoco>
