CoppeliaSim forums

Hi.
When I use “softbody” it always shows up as a cube. How can I make it so I can use another shape. Like a cylinder or a cuboid?

Softbody (from scene mujoco/stringsRopesClothsAndSoftBodies.ttt) is not a native object but rather a model with a customization script that creates some specific mujoco composite type by injecting a specific mujoco XML string into the mujoco engine (via simMujoco.composite).

By the way, if you doubleclick the user config icon, you can choose between between cuboid, spheroid and cylinder.

In theory it should be possible to also create an arbitrary composite from a set of points (e.g. the vertices of a [convex] mesh), but that requires a good understanding of mujoco, and I'm not that expert in that regard.