Programmatically create a non-rigid connection (i.e position but not orientation)
Posted: 19 Jun 2018, 04:49
Hello,
For the purpose of simulating a climbing robot, I need to find a way to simulate gripping/grasping of a surface by the robot's leg tips.
What I had in mind was to sample dummies on my terrain and then attach a leg tip to the terrain through a dummy-dummy link, kind of how the suction cup works but the other way around.
My problem is that a dummy-dummy link created through sim.setLinkDummy tries to match both position and orientation, but in my case I only want to match position (I have compliance in my gripper).
Therefore I would like to know how I can sequentially create/destroy such a non-rigid connection between my robot's leg tip (dynamic, respondable) and the terrain (static, respondable).
Best,
Maxens
For the purpose of simulating a climbing robot, I need to find a way to simulate gripping/grasping of a surface by the robot's leg tips.
What I had in mind was to sample dummies on my terrain and then attach a leg tip to the terrain through a dummy-dummy link, kind of how the suction cup works but the other way around.
My problem is that a dummy-dummy link created through sim.setLinkDummy tries to match both position and orientation, but in my case I only want to match position (I have compliance in my gripper).
Therefore I would like to know how I can sequentially create/destroy such a non-rigid connection between my robot's leg tip (dynamic, respondable) and the terrain (static, respondable).
Best,
Maxens