what we aim to do
We are using a humanoid with parallel jaw grippers to pick up a USB and insert it into a laptop. We generated the Isaac USD assets (robot, usb, laptop) via the Isaac URDF->USD converter. Currently facing issues with picking up the USB and opening the laptop. The end effector clips through the laptop while opening the lid.
As for the USB, we need some instruction for programming the contact dynamics between the USB , the end effectors and the USB port in our laptop USD. The USB clips through various surfaces, enabling CCD helps but the USB ultimately slips from the jaws of the end effector.
What we have tried
Like mentioned above - enabling CCD helps but the USB ultimately slips from the jaws of the end effector.
The end effector has the following ImplicitActuatrorCfg properties:
effort_limit=12.0
effort_limit_sim=12.0
velocity_limit=0.8
velocity_limit_sim=0.8
stiffness=900
damping=90
friction=0.8
dynamic_friction=0.6
To do this task successfully what USD APIs/Properties must these assets - the robot, laptop and USB absolutely have?
Isaac Sim Version
5.0.0
Operating System
Ubuntu 22.04
GPU Information
- Model: NVIDIA GeForce RTX 4070
- Driver Version: 570.195.03