Jerry

@saran-t Thanks for your answer! Actually, the sencond point is very similar with the "site" method, so just leave it now. By using the function of site, I could know...

I tried "equality" but "site" is not a body, so I cannot connect them. Also, if I using "tendon", it would not match my physical model because I just need...

@Balint-H Hi, I follow your advice but receive an error: XML Error: Schema violation: unrecognized attribute: 'relpose' this is the code, it seems not support "relpose" attribute ` `

Thank you! I find another instead method, which is defining a very small freejoint box at the end of rope. Thus I would track the rope end, but I am...

I would close the issue because I find a way to solve the question. We can set two sites between the second joint end and tip, then using tendon to...

> I've found the solution for your first question. `graphics_device_id` need to be passed to `isaacgymenvs.make`, otherwise it will be set to -1 by default and cause the error. I...

Still hope to see a more detailed file to introduce how to build custom tasks, thx!