CoppeliaSim forums

Hello, I am a new Coppeliasim user and would be grateful if anyone could help with my problem. I am trying to create a simulation of One-Degree-Of-Freedom Robotic arm with impedance control that will be actuated via wire. The wire will be attached to a motor on the top of the arm (bicep) and a motor underneath the arm (tricep) with the middle being wrapped around a pulley (an elbow joint) for atagonistic actuation. The wires will be attached to a spring between the pulley and the motor on both sides. I am intending on implementing the wires with the string or rope feature in the MuJoCo Engine, however I am fairly new to robotic simulations so I am unsure of the steps and code required for the simulation to work as intended. Any help would be greatly appreciated and I can clarify and confusion with my question if needed.

Hello,

the more complicated wire situations as you describe (wire wrapped around a pulley) are not currently supported via CoppeliaSim unfortunately. Only point-to-point wires are supported.

Cheers

coppelia wrote: ↑31 Jan 2023, 07:37 Hello,

the more complicated wire situations as you describe (wire wrapped around a pulley) are not currently supported via CoppeliaSim unfortunately. Only point-to-point wires are supported.

Cheers

Does coppelisim support this kind of simulation now？

Hello,

wires following a specific path are still not supported, as of CoppeliaSim V4.6

Cheers