I'm trying to figure out how to make body contacts conditional in simscape multibody?
As an example, I'm trying to model a 2D robot climbing on a ladder. I'd like to make the ladder rung contact available only after the grasping body has passed the ladder rung. In 3D this would be done by an out-of-plane motion, however for simplicities sake I'd like to avoid the extraneous detail for this work and assume a grasping point is available only after the grasping body has moved passed the ladder rung. Currently I'm using the Circle to Finite Line contact from the Multibody Contact Forces Library, and I'm looking to find a way to only activate it when the circle has passed a certain height (position of the ladder rung).