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Create simple_linkage.py
Kinematic Loop example
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‎examples/simple_linkage.py‎

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import mujoco
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import mujoco_viewer
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MODEL_XML = """
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<?xml version="1.0" ?>
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<mujoco>
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<option gravity="0 0 0" timestep="0.002" />
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<asset>
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<material name="blue_" rgba="0 0 1 1" />
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<material name="green" rgba="0 1 0 1" />
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<material name="red__" rgba="1 0 0 1" />
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<material name="white" rgba="1 1 1 1" />
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</asset>
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<worldbody>
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<geom type="plane" size="10 10 0.1" pos="0 0 -3" rgba=".9 0 0 1" />
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<light diffuse=".5 .5 .5" pos="0 0 3" dir="0 0 -1" />
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<body name="link_1" pos="0 0 0">
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<geom type="cylinder" size=".2 2" pos="0 0 2" euler="0 0 0" material="red__" mass="0.8" />
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<geom type="cylinder" size=".25 .25" pos="0 0 4" euler="0 90 0" material="red__" mass="0.1" />
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<geom type="cylinder" size=".25 .25" pos="0 0 0" euler="0 90 0" material="red__" mass="0.1" />
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<body name="link_2" pos="0.5 0 0" euler="0 0 0">
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<joint name="hinge_1" type="hinge" pos="0 0 0" axis="1 0 0" /> <!--limited="true" range="-30 30" -->
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<geom type="cylinder" size=".2 2" pos="0 2 0" euler="90 0 0" material="blue_" mass="0.8" />
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<geom type="cylinder" size=".25 .25" pos="0 4 0" euler="0 90 0" material="blue_" mass="0.1" />
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<geom type="cylinder" size=".25 .25" pos="0 0 0" euler="0 90 0" material="blue_" mass="0.1" />
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<body name="link_3" pos="-0.5 4 0" euler="0 0 0">
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<joint name="hinge_2" type="hinge" pos="0 0 0" axis="1 0 0" />
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<geom type="cylinder" size=".2 2" pos="0 0 2" euler="0 0 0" material="green" mass="0.8" />
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<geom type="cylinder" size=".25 .25" pos="0 0 0" euler="0 90 0" material="green" mass="0.1" />
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<geom type="cylinder" size=".25 .25" pos="0 0 4" euler="0 90 0" material="green" mass="0.1" />
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<body name="link_4" pos="0.5 0 4" euler="0 0 0">
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<joint name="hinge_3" type="hinge" pos="0 0 0" axis="1 0 0" />
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<geom type="cylinder" size=".2 2" pos="0 -2 0" euler="90 0 0" material="white" mass="0.8" />
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<geom type="cylinder" size=".25 .25" pos="0 0 0" euler="0 90 0" material="white" mass="0.1" />
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<geom type="cylinder" size=".25 .25" pos="0 -4 0" euler="0 90 0" material="white" mass="0.1" />
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</body>
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</body>
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</body>
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</body>
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</worldbody>
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<equality>
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<connect name="kinematic_link" active="true" body1="link_1" body2="link_4" anchor="0 0 4" />
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</equality>
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<actuator>
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<motor name="hinge_1" joint="hinge_1" forcelimited="true" forcerange="-1000 1000" /> <!-- gear="1" -->
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<position name="position_servo" joint="hinge_1" kp="100" />
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<velocity name="velocity_servo" joint="hinge_1" kv="100" />
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</actuator>
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</mujoco>
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"""
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model = mujoco.MjModel.from_xml_string(MODEL_XML)
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data = mujoco.MjData(model)
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# create the viewer object
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viewer = mujoco_viewer.MujocoViewer(model, data)
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# simulate and render
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for _ in range(100000):
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mujoco.mj_step(model, data)
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viewer.render()
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# close
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viewer.close()

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