Constraining rigid and soft bodies

[camilla-agabiti]

Hi :)

I am working on a simulation in zero gravity of grasping performed by the soft trunk-robot.
I would like to attach the base of the trunk-robot to a rigid cubic object: this would enable me to simulate a scenario of a soft robotic arm attached to a rigid satellite in the space environment.

I saw that there are several methods to achieve this, such as "rigidification", or "BilateralInteractonConstraint".
Which is the best one for my application?

Thank you so much!
Camilla

[hugtalbot]

Hi @camilla-agabiti

Both would be actually similar. The rigidification being "automatized" using the python function might be easier to use.
Cheers

[yangwxb]

hello,Are there any examples of Constraining rigid and soft bodies?

[hugtalbot]

Hi @camilla-agabiti

yes, please see

• the FixedLagrangianConstraint (Vec3 and Rigid3)
• the FixedProjectiveConstraint
• and the RestShapeSpringsForceField
  (soon a proper example with spring will be added in [Spring] Add fixed weak constraint and examples #4750)

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@camilla-agabiti
Feedback has been given to you by the project reviewers, however we have not received a response from you. Without further news in the coming weeks, this discussion will be automatically closed in order to keep this forum clean and fresh 🌱 Thank you for your understanding

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@camilla-agabiti
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