Modelling hanging ropes (Catenaries) in Gazebo?

I would like to have a model of a flexible hanging rope in Gazebo. I couldn’t find any examples or models of it. Please suggest me examples or resources for this. I am looking forward for the help.

You can start by creating a model with many small linear parts connected by ball joints or hinge joints. I highly suggest generating the model by a script to get all the positions and offsets exact.

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You mean a cable as combination of many small linear lines. Can anyone show me any existing examples of this in Gazebo ?

Not exactly a rope, but you can get some inspiration from the models for tracked vehicles with tracks composed of many small segments, e.g.: GitHub - yoshito-n-students/gazebo_continuous_track .