Challenges with Robotiq 3F Gripper in Isaac Sim: Object Slippage and Clipping

Omniverse Isaac Sim
1

Trying to grab and object from x and place it at x1 position using ROS + moveit.
Using
ROBOTIC ARM - KUKA KR10 Github
GRIPPER - Robotiq 3f Gripper Github

  1. Import mode - URDF IMPORT
  2. Patch - robot was not stable thus added inertia in the robots link + corrected some inertia value of grippers also.
  3. Added Material with friction to gripper + object in the video bellow

Gripper - dynamic friction 1.0 and static friction 1.0
pick place Object - dynamic friction 0.5 and static friction 0.5 + added mass of 300 gm to 1 kg

  1. changed force value of grippers joint
  • Froce : 100 - 600 [ tried values ]
  • damping : 40 - 100 [tried value range ]
  • stifness : 800 - 100 [tried value range ]

ISSUE

  1. Object clipping when moving the robot
  2. Gripper is not stable when grasping any object.

2

Surface grippper can resolve this issue, but it will be visualization only,

3

It helps if you use SDF meshes on all of your colliders in a situation like this. It looks like you’re mixing convex hull meshes with a USD cube rather than a USD cube mesh

4

how to check what type of mesh I am using ?

  • URDF’s mesh is taken from the file location in link
  • for that red cube its create > mesh > add rigid body and collision
5

If you select a mesh with a collider you can change the collider’s Approximation property to a few different options, including SDF meshes.

kit_A6AihDkLJ7
kit_A6AihDkLJ71442×932 125 KB

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