Accurate Simulation and Parameter Identification of Deformable Linear Objects using Discrete Elastic Rods in Generalized Coordinates

Qi Jing Chen, Timothy Bretl, Quang-Cuong Pham

This paper presents a fast and accurate model of a deformable linear object (DLO) -- e.g., a rope, wire, or cable -- integrated into an established robot physics simulator, MuJoCo.…