How to create xml that one body drag another box with cable. #2308

HuanMinpopcorn · 2024-12-23T09:21:58Z

HuanMinpopcorn
Dec 23, 2024

Intro

Hi!

I am a graduate student, I use MuJoCo for my research on leg robot.

My setup

mujoco 3.2.5
python3

My question

I'm tryinig to connect the rope between two boxes and also try to driving one box while drag another box.

Minimal model and/or code that explain my question

<!-- Box 2 (movable) -->
<body name="box2" pos="0.85 0 0.1">
  <geom type="box" size="0.1 0.1 0.1" mass=".2" rgba="1 0 0 1"/>
  <site name="box2_site" pos="0 0 0"/>
  <!-- <joint type="free"/>   -->
</body>

<composite type="cable" curve="s" count="41 1 1" size="1" offset="0 0 0.1" initial="none">
  <plugin plugin="mujoco.elasticity.cable">
  <!-- Units are in Pa (SI) -->
    <config key="twist" value="1e7"/>
    <config key="bend" value="4e6"/>
    <config key="vmax" value="0.05"/>
  </plugin>
  <joint kind="main" damping=".015"/>
  <geom type="capsule" size=".005" rgba=".8 .2 .1 1" condim="1"/>
</composite>

Confirmations

I searched the latest documentation thoroughly before posting.
I searched previous Issues and Discussions, I am certain this has not been raised before.

HuanMinpopcorn · 2024-12-23T09:24:42Z

HuanMinpopcorn
Dec 23, 2024
Author

the problem I have now, the cable is not attached to the second box. The first box doesn't move while been added the slide joint.

0 replies

yuvaltassa · 2024-12-24T20:34:54Z

yuvaltassa
Dec 24, 2024
Maintainer

This was asked many times before. Please search the issues.

0 replies

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How to create xml that one body drag another box with cable. #2308

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How to create xml that one body drag another box with cable. #2308

HuanMinpopcorn Dec 23, 2024

Intro

My setup

My question

Minimal model and/or code that explain my question

Confirmations

Replies: 2 comments

HuanMinpopcorn Dec 23, 2024 Author

yuvaltassa Dec 24, 2024 Maintainer

HuanMinpopcorn
Dec 23, 2024

HuanMinpopcorn
Dec 23, 2024
Author

yuvaltassa
Dec 24, 2024
Maintainer