How to create a simulation model of a Rubik's Cube in Coppeliasim? Please provide some tips

[nuozhe]

I want to create a Rubik's Cube in Coppeliasim and use a robotic arm to solve it. How should I operate it? Please give me some tips

[coppelia]

Hello,

there are probably several ways of modelling such a cube. I would start with a center sphere on top of which you have 3 mutually orthogonal revolute joints. Then group/attach the 26 color items to those joints. You will have to dynamically ungroup/regroup detach/reattach those items depending on how the movement will be.

Another ways probably could work by having the physics engine figure out motions via collision response, but my guess is that it will not be too smooth. In that case you should mount each color item on top of 2-3 own joints (with auxiliary masses in-between).

Cheers

[nuozhe]

Thank you very much for your prompt. How should I operate "You will have to dynamically ungroup/regroup detach/reattach those items depending on how the movement will be."? Does coppeliasim have any existing examples to refer to?