Extending the model to a quadruped
Thanks to the last tutorial, we know how to programmatically construct a Neuromechanic model. Now our task is to make four copies of that model to construct a quadruped. We need to rotate and reflect each copy and make sure all the pieces (e.g. segments, muscles, and neurons) have unique names for each limb. The model is over 500 lines of XML now and this would be a miserable job without a programmatic approach.