I am working at a project, in that i need to prepare a cable model. It is expected that i create a cable model, which has stiffness and damping coefficient. I can do it in dartpy with combination of ball joint, prismatic joints and rigid bodies. However i am curious about if i can do this with SoftBodyNode too? I have using the following code to create a BodyNode and Joint pair:
# Joint properties ball_joint_prop = dart.dynamics.BallJointProperties() ball_joint_prop.mName = self.name + '_ball_joint' ball_joint_prop.mRestPositions = np.ones(3) * self.rest_position ball_joint_prop.mDampingCoefficients = np.ones(3) * self.damping ball_joint_prop.mSpringStiffnesses = np.ones(3) * self.stiffness # Setting up the translation for the ball joint ball_joint_prop.mT_ParentBodyToJoint.translate([0, 0, self.length]) # Properties for the body node ball_body_aspect_prop = dart.dynamics.BodyNodeAspectProperties(self.name + 'ball_joint_cable') ball_body_prop = dart.dynamics.BodyNodeProperties(ball_body_aspect_prop) # Create Joint-Body pair [joint, body] = chain.createBallJointAndBodyNodePair(self.parent, ball_joint_prop, ball_body_prop)
This create a BodyNode and joint pair. Is there anyway that i can create a SoftBodyNode instead of BodyNode in dartpy?