Adding mocap body on rope #171

matansudry · 2022-03-06T14:59:24Z

matansudry
Mar 6, 2022

Hi,

I am trying to add a mocap body on each rope link.
For step one, I tried to add mocap body to some link, see implementation below.
I am not sure why but the link and the mocap body are not connected.

In the end, I want to give some trajectory with [x,y,z] points and move the rope using the mocap body.

<option timestep="0.002" jacobian="dense"/>

<size nconmax="100" njmax="300" nstack="50000"/>

<equality>
    <connect body1="hand" body2="B10" anchor="0 0 0" solimp="0.9 0.95 0.001" solref="0.02 1"/>
</equality>
<worldbody>
    <body name="B10" pos="0 -0.5 0.00">
        <freejoint/>
        <composite type="rope" count="21 1 1" spacing="0.04" offset="0 0 2">
            <joint kind="main" damping="0.005"/>
            <geom  type="capsule" size=".01 .015" rgba=".8 .2 .1 1"/>
        </composite>
    </body>
    <body name="hand" pos="0 -0.5 0.00" mocap="true">
        <geom type="box" size=".01 .01 .01" rgba="0 .9 0 .5" contype="2"/>
    </body>
</worldbody>

rohit-kumar-j · 2022-07-03T14:41:32Z

rohit-kumar-j
Jul 3, 2022

@matansudry, you might want to check this out: https://github.com/kevincheng3/mocap-control

0 replies

wangjunyi9999 · 2022-08-03T10:59:40Z

wangjunyi9999
Aug 3, 2022

Hi, bro, have you found a good solution to it? I also meet the same thing.
@matansudry

0 replies

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Adding mocap body on rope #171

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matansudry Mar 6, 2022

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rohit-kumar-j Jul 3, 2022

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wangjunyi9999 Aug 3, 2022

matansudry
Mar 6, 2022

rohit-kumar-j
Jul 3, 2022

wangjunyi9999
Aug 3, 2022