I refer to the suggestions in this discussion：What is the correct way to build a simulated rope?
But there are some new problems. I created the rope and it looks good. Next, I want to use the robotic arm to grasp the rope. Since I needed to keep the size of the rope small, in this case, it was difficult for the robot arm to grab the rope, so I added a cube at the very beginning of the rope for grasping.
The problem now is that the ropes I created using the Python code unravel during larger interactions, which makes the ropes look weird. For example, if I drag the cube with the mouse, a small drag will not have much negative impact, but when I drag it a lot, it will spread out. The result is shown in the figure below.
However, I used Isaac sim’s UI to repeatedly create a simple example where the rope’s structure was the same as the one created by the code, but it wouldn’t unravel no matter how hard I dragged it.
I would like to know what is causing this discrepancy and how should I fix it.
My code for creating the rope is here：
rope-simulation.py (9.6 KB)
Thanks so much!