I am trying to implement a simple model at the NRP to try out a neural controller we are developing with simple known physics. Ideally, I would like to implement a coupled oscillator; so two bodies connected by a spring damper to each other and to fixed points in the environment. However, I am struggling with finding a good way to implement it.
I implemented two masses from a .sdf-file, but am struggeling with implementing the springs…
Can I use SMACH for that?
Do you have any suggestions on how to deal with that?
How can I apply external forces to each mass of the system, similar to the ones I can manually set to interact with the environment, but I would like to set it at specified points and times triggered by my controller?
I am sorry, if this might be a bit of a stupid question, but I have not too much experience with ROS and would appreciate a hint in the right direction.
Thank you and best regards,