modeling a rope with a changing length

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vreprobot
Posts: 3
Joined: 11 Sep 2018, 08:34

modeling a rope with a changing length

Post by vreprobot » 26 Sep 2018, 08:05

Hello,
I want to model a rope with a changing length .I used a prismatic joint but i cant find a remote api function to change joint range during simulation.
Is there a way to model such kind of rope? or is there any way to change the range of a prismatic joint using python?

fferri
Posts: 219
Joined: 09 Sep 2013, 19:28

Re: modeling a rope with a changing length

Post by fferri » 26 Sep 2018, 08:06

Hi vreprobot,
why do you want to change the joint range instead of working with joint position?

vreprobot
Posts: 3
Joined: 11 Sep 2018, 08:34

Re: modeling a rope with a changing length

Post by vreprobot » 26 Sep 2018, 08:17

Because the rope is connecting two robots to each other. But when each of them moves the joint position changes and when it reaches it's max or min a force is applied to robots and they cant move any more. But sometimes after the joint reaches it's max position I want to make the joint range bigger so the robots can move.

fferri
Posts: 219
Joined: 09 Sep 2013, 19:28

Re: modeling a rope with a changing length

Post by fferri » 26 Sep 2018, 09:13

Looks like you need to set a larger joint range in the first place.
You can apply forces/torques to a joint, and also define a custom controller with joint callback functions.

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