About the rope in coppelisim
Posted: 28 Mar 2024, 08:58
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。
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