Connect two bodies with constraints/anchors?

Hi, thanks for developing the great simulator!

I’m designing a robot system that two ends of a cable (a soft body) are attached to a robot. In PyBullet/MuJoCo, I can add anchors or constraints to connect points of the cable to the robot, can I do similar things in Isaac Gym?

Any suggestions or comments are welcome!

I have a question. Did you do that with reinforcement learning? If so, please give me some more details. Did you use “PPO” or “SAC”?

Hi, yes in Pybullet. I’ve implemented both besides DQN.