Articulated Object Simulation as parent child relation
Posted: 04 Feb 2020, 12:55
Hi,
I need to simulate an articulated object. To make it more structured I divided my question in three parts. In the following paragraph I will explain what I am trying to simulate and the one after that I will try to explain what I thought as solution (I do not know if it is the best). The paragraph after I will raise some questions. Any feedback, suggestion or link to similar question or example scene is welcome.
I want to simulate a complex object made of some primitive shapes. Let's say a bunch of cylinders, and say 3 of them. I want these three cylinders to be able to move as a bunch ie. connected to one other object which can be root, let's say a cube. So if the cube moves, all cylinders move with it. But the cylinders should be able to swing during moving. The cylinders are not connected to each other, they are connected to the same root. I also want that the cylinders are detachable from the whole system of objects. So if a robot grasps the cube it should be able to move the cube and three cylinders together, while the cylinders may show some shaking like behavior. If the robot grasps a cylinder and pulls, it should be able to take the cylinder and maybe cause some minor movement in the object system. I hope this part is clear enough.
What I thought as a solution is that I have a cylinder which is connected to another link through a force sensor, which breaks under some force limitations. Then the link is connected to a cube through a spherical joint, so that the cylinders can swing in different directions. Copy this system and put three cubes in the exact same pose (position and orientation) so that it looks like one cube. I also want to put all three joints in exactly same position and orientation so they act as they are from the same root.
1)Now coming to my questions, first, does this system make sense? Or I am having some assumptions that may not be best.
2)How can I make visualization and physical behavior separate for the root. I want to cover all spherical joints and cubes as physical behavior, but I want all this system not to be visible (that is easy from common object properties and selecting visualization layers), But I also want the system of spherical objects and cubes to seem as one cube, which has no physical interaction but move with system. How can I make that.
3)How can I limit the motion of spherical joints to some area of the joint?
Best,
mert
I need to simulate an articulated object. To make it more structured I divided my question in three parts. In the following paragraph I will explain what I am trying to simulate and the one after that I will try to explain what I thought as solution (I do not know if it is the best). The paragraph after I will raise some questions. Any feedback, suggestion or link to similar question or example scene is welcome.
I want to simulate a complex object made of some primitive shapes. Let's say a bunch of cylinders, and say 3 of them. I want these three cylinders to be able to move as a bunch ie. connected to one other object which can be root, let's say a cube. So if the cube moves, all cylinders move with it. But the cylinders should be able to swing during moving. The cylinders are not connected to each other, they are connected to the same root. I also want that the cylinders are detachable from the whole system of objects. So if a robot grasps the cube it should be able to move the cube and three cylinders together, while the cylinders may show some shaking like behavior. If the robot grasps a cylinder and pulls, it should be able to take the cylinder and maybe cause some minor movement in the object system. I hope this part is clear enough.
What I thought as a solution is that I have a cylinder which is connected to another link through a force sensor, which breaks under some force limitations. Then the link is connected to a cube through a spherical joint, so that the cylinders can swing in different directions. Copy this system and put three cubes in the exact same pose (position and orientation) so that it looks like one cube. I also want to put all three joints in exactly same position and orientation so they act as they are from the same root.
1)Now coming to my questions, first, does this system make sense? Or I am having some assumptions that may not be best.
2)How can I make visualization and physical behavior separate for the root. I want to cover all spherical joints and cubes as physical behavior, but I want all this system not to be visible (that is easy from common object properties and selecting visualization layers), But I also want the system of spherical objects and cubes to seem as one cube, which has no physical interaction but move with system. How can I make that.
3)How can I limit the motion of spherical joints to some area of the joint?
Best,
mert