About the rope in coppelisim

Typically: "How do I... ", "How can I... " questions
Post Reply
ZnMnCr
Posts: 3
Joined: 10 Nov 2023, 16:11

About the rope in coppelisim

Post by ZnMnCr »

The recently added MUJOCO engine enables the connection of ropes between dummies. It is an exciting feature. How can I control the length of this rope? Thanks。
Top
coppelia
Site Admin
Posts: 10375
Joined: 14 Dec 2012, 00:25

Re: About the rope in coppelisim

Post by coppelia »

Hello,

have a look at the demo scene scenes/mujoco/stringsRopesClothsAndSoftBodies.ttt:

Following are the steps required:
  • Create a prismatic joint
  • Create 2 dummies
  • In the dummy dialog, set the dummy type to Dynamic, tendon constraint
  • Set the linked dummy to the other dummy
  • Click Engine properties and for mujoco/jointProxy/joint, set the path to the proxy prismatic joint
  • In the joint dynamics dialog, set Spring for the control mode. Adjust the spring constant K and C appropriately
  • Now you can change the tendon length via the prismatic joint, with sim.setJointTargetPosition
Cheers
Top
Post Reply

Return to “General questions”