Make a cable bend like a rope #2802
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IntroHi! I am an undergrad researcher using MuJoCo for robotics & RL research. My setupI am using Mujoco 3.3.4. My questionI am creating a composite with type 'cable' that is attached to a ball. My goal, is when my robot arm tries to pick up the ball, it'll be able to carry it up and the ball will move in response. However, currently the cable doesn't bend upwards. cable.movMinimal model and/or code that explain my questionHere's a working mujoco file of current cable I'm using. Confirmations
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Replies: 1 comment 5 replies
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I'm not sure I understand but maybe you want |
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Then, how would I specify the initial position of the cable? I get error 'free joint can only be used at top level' because body is above the composite to set the position. |
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To clarify, here's the behavior I want to achieve. This is the video of a rope in previous MuJoCo. But now rope is deprecated, so I'm trying to achieve the same behavior with a cable. ropeOld.mov |
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Maybe it's because in a cable, you have to set a curve like "s 0 0," and it tries to stay fixed to that shape? |
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Why are you nesting the composite into another body? You don't need to. |
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You can specify |
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I'm not sure I understand but maybe you want
initial="free"in your composite.