How to attach a rope with two end-effectors?

Discussion in 'Modeling' started by QiJiaming, Apr 13, 2020.

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How to attach a rope with two end-effectors?

  1. rope simulation

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  2. dual ur5 robots model

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  1. As the below figure shows, I want to attach a rope with two sides of two end-effectors.
    That's to say, left robot controls left side of rope, while the right robot controls the right side of rope.
    I want to ask, whether the MuJoCo can accomplish this task.
    If it can, how should I bulid the model.
    Thanks for any help.

    upload_2020-4-14_13-36-33.png
     

    Attached Files:

    • rope.xml
      File size:
      860 bytes
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  2. Supplement: as the figure shows, I just can attach the rope with either left robot or right robot.
     
  3. Vikash Kumar

    Vikash Kumar Staff Member

    You can use MuJoCo constraints (weld equality etc) to do so