<!-- ChineseCA 空间 · 示例机器人：四足小狗。另存为 robot.xml，打成 .zip 上传；也可以和 /lab/arena.xml 放一起在本地 MuJoCo 里打开。 -->
<mujoco model="四足小狗">
  <compiler angle="degree"/>
  <option timestep="0.002"/>
  <default>
    <joint damping="0.5" armature="0.01"/>
    <geom rgba="0.18 0.31 0.27 1" friction="1 0.005 0.0001"/>
    <position kp="60" ctrlrange="-1 1"/>
  </default>
  <worldbody>
    <body name="torso" pos="0 0 0.42">
      <freejoint/>
      <geom type="box" size="0.25 0.12 0.05" rgba="0.72 0.57 0.29 1" mass="4"/>
      <geom type="sphere" size="0.07" pos="0.3 0 0.05" rgba="0.95 0.93 0.88 1" mass="0.3"/>
      <body name="fl" pos="0.2 0.13 0"><joint name="fl_hip" type="hinge" axis="0 1 0" range="-60 60"/><geom type="capsule" fromto="0 0 0 0 0 -0.18" size="0.025"/>
        <body pos="0 0 -0.18"><joint name="fl_knee" type="hinge" axis="0 1 0" range="-90 10"/><geom type="capsule" fromto="0 0 0 0 0 -0.2" size="0.02"/></body></body>
      <body name="fr" pos="0.2 -0.13 0"><joint name="fr_hip" type="hinge" axis="0 1 0" range="-60 60"/><geom type="capsule" fromto="0 0 0 0 0 -0.18" size="0.025"/>
        <body pos="0 0 -0.18"><joint name="fr_knee" type="hinge" axis="0 1 0" range="-90 10"/><geom type="capsule" fromto="0 0 0 0 0 -0.2" size="0.02"/></body></body>
      <body name="bl" pos="-0.2 0.13 0"><joint name="bl_hip" type="hinge" axis="0 1 0" range="-60 60"/><geom type="capsule" fromto="0 0 0 0 0 -0.18" size="0.025"/>
        <body pos="0 0 -0.18"><joint name="bl_knee" type="hinge" axis="0 1 0" range="-90 10"/><geom type="capsule" fromto="0 0 0 0 0 -0.2" size="0.02"/></body></body>
      <body name="br" pos="-0.2 -0.13 0"><joint name="br_hip" type="hinge" axis="0 1 0" range="-60 60"/><geom type="capsule" fromto="0 0 0 0 0 -0.18" size="0.025"/>
        <body pos="0 0 -0.18"><joint name="br_knee" type="hinge" axis="0 1 0" range="-90 10"/><geom type="capsule" fromto="0 0 0 0 0 -0.2" size="0.02"/></body></body>
    </body>
  </worldbody>
  <actuator>
    <position name="左前髋" joint="fl_hip"/><position name="左前膝" joint="fl_knee"/>
    <position name="右前髋" joint="fr_hip"/><position name="右前膝" joint="fr_knee"/>
    <position name="左后髋" joint="bl_hip"/><position name="左后膝" joint="bl_knee"/>
    <position name="右后髋" joint="br_hip"/><position name="右后膝" joint="br_knee"/>
  </actuator>
</mujoco>
