Jumping-Mechanism-Optimization/modelStart.xml at main · PerfectMachine/Jumping-Mechanism-Optimization · GitHub

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<mujoco>

	<option timestep="1e-4"/>
	<option gravity="0 0 -9.8"/>

    <worldbody>

        <body name = "floor" pos = "0 0 -0.1">
            <geom type = "plane" size = "1 1 0.1"/>
        </body>

        <body name = "jumpingMechanism" pos = "0 0 1.5">
            <joint name = "mainBody" type = "slide" axis = "0 0 1"/>
            <geom type = "box" size = "0.3 0.1 0.1"/>
            <site name = "mainBody" pos = "0 0 0" size = "0.1"/>

            <!--Left leg starts here-->
            <body name = "leftHip" pos = "-0.2 -0.1 0" euler ="90 0 0"> <!--pos = "XN -0.1 0, where XN is distance"-->
                <joint name = "hipLeft" type = "hinge" axis = '0 0 1' damping = "0" limited ='true' range="-45 0"/>
                <geom type = 'cylinder' size = '0.05 0.06'/>
                <site name = "leftHip" size = "0.05"/>

                <!--pos = "0 -N 0.03", where N - is length of l1-->
                <body name = "leftL1" pos = "0 -0.3 0.03">
                    <geom name = "leftL1" type = "box" size = "0.05 0.3 0.03"/> <!--size = "0.05 N 0.03"-->

                    <body name = "leftKnee" pos = "0 -0.3 0"> <!--pos = "0 -N 0", where N - is length of l1-->
                        <joint name = "kneeLeft" type = "hinge" axis = '0 0 1' limited ='true' range="0 45"/>
                        <geom type = 'cylinder' size = '0.05 0.06' pos = "0 0 -0.03"/>
                        <site name = "leftKnee" size = "0.05"/>

                        <body name = "leftL2" euler = "0 90 0" pos = "0 -0.3 -0.06"> <!--pos = "0 -M -0.06", where M - is length of l2-->
                            <geom name = "leftL2" type = "box" size = "0.03 0.3 0.05"/> <!--size = "0.03 M 0.05"-->
                            <body name = "endeffector" pos = "0 -0.3 0" euler = "0 90 0"><!--pos = "0 -M 0"-->
                                <geom type = "cylinder" size = "0.1 0.05"/>
                                <site name = "linkOne" size = "0.05"/>
                            </body>
                        </body>

                    </body>

                </body>

            </body> <!--Left leg ends here-->

            <!--Right leg starts here-->
            <body name = "rightHip" pos = "0.2 -0.1 0" euler ="90 0 0"> <!--pos = "XN -0.1 0, where XN is distance"-->
                <joint name = "hipRight" type = "hinge" axis = '0 0 1' damping = "0" limited ='true' range="0 45"/>
                <geom type = 'cylinder' size = '0.05 0.06'/>
                <site name = "rightHip" size = "0.05"/>

                <!--pos = "0 N 0.03", where N - is length of l1-->
                <body name = "rightL1" pos = "0 -0.3 0.03">
                    <geom name = "rightL1" type = "box" size = "0.05 0.3 0.03"/> <!--size = "0.05 N 0.03"-->

                    <body name = "rightKnee" pos = "0 -0.3 0"> <!--pos = "0 -N 0", where N - is length of l1-->
                        <joint name = "kneeRight" type = "hinge" axis = '0 0 1' range="-45 0"/>
                        <geom type = 'cylinder' size = '0.05 0.06' pos = "0 0 -0.03"/>
                        <site name = "rightKnee" size = "0.05"/>

                        <body name = "rightL2" euler = "0 90 0" pos = "0 -0.3 -0.06"> <!--pos = "0 -M -0.06", where M - is length of l2-->
                            <geom name = "rightL2" type = "box" size = "0.03 0.3 0.05"/> <!--size = "0.03 M 0.05"-->
                            <body name = "linking" pos = "0 -0.3 0" euler = "0 90 0"><!--pos = "0 -M 0"-->
                                <site name = "linkTwo" size = "0.05"/>
                            </body>
                        </body>

                    </body>

                </body>

            </body>

        </body>

    </worldbody>

    <equality>
        <connect site1="linkOne" site2="linkTwo"/>
    </equality>

    <actuator>

         <motor name="leftHipMotor" joint = 'hipLeft' ctrllimited="true" ctrlrange="-48 48" gear ="64"/>
         <motor name="rightHipMotor" joint = 'hipRight' ctrllimited="true" ctrlrange="-48 48" gear ="64"/>

    </actuator>

</mujoco>