To use this project, simply open Leg-Sim as a project in Unity
Changes can be made by editing the C# files in Assets/ Main.cs sets up the environment and performs all real-time control and output. The design variables such as leg dimensions, mass, etc. are set here, as well as whether the leg performs a jump or pullup. LegInverted.cs defines the leg mechanism. Edit this file to change the structure of the leg or replicate this file to create a new leg.