Modeling flexible cables with take-up machines

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Dear experts,

I'm trying to simulate a pulling cable with take-up machines. Servo motors on the take-up machines usually control positions and velocities. So, I'd like to express cable tensions based on roll length.

I checked previous discussion on the forum: https://simtk.org/plugins/phpBB/viewtop ... 24&p=12068
Brad suggested to use ClutchedPathSpring. I think this may be one of solutions. But probably, I may need to know how I can change initial_tension or length with Matlab APIs during runtime. Could you suggest access methods to that? Or if you have any alternative ideas, could you suggest it?

Thank you and Best,
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