Simulate Soft Robot in PyBullet

[hai-h-nguyen]

Hi @erwincoumans and everyone,

I am trying to simulate a soft UR5 robot by having a soft part connecting to the robot arm on one end and the gripper on the other. I guess the issue is reliably connecting a rigid multi-body to a soft body.

I currently use a phantom cylinder fixed to the UR5 robot arm (using the createConstraint function) and then use createSoftBodyAnchor to connect a soft cylinder to the phantom cylinder. However, things do not work as expected (I attached the video). So I am posting here to ask for more advice.

Video, Code