How to simulate the friction between an irregular cable and a soft robot.

[3H2Oaaa]

Hi，everyone！
This is a problem that has been bothering me for a long time: I want to simulate a cable-driven soft robot, where the cable passes through the soft robot and presents an irregular curve. Now I want to simulate the friction between this cable and the soft robot. I tried using the Cosserat plugin to simulate this cable, but the generated cable is always a straight line, rather than the curve I want. What should I do? Are there tools that can let me customize the shape of the cable? I tried selecting some points in the soft robot and forcefully constraining the cable to these points, but once the simulation starts, powerful forces are generated inside the model that "tear" the whole model apart, causing the simulation to crash."