Deformable Body - Static friction is not supported?

According to this:

Deformable bodies do not support static friction.

I have a simulation in which a robot arm must interact, in different ways, with a deformable body, I’m right to assume that there is no way to make this interaction realistic (Isaac 2023.1.1)?

If so, are there any plans to solve this limitation in future releases?

Many thanks!

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Yes it’s correct that we do not support static friction yet for deformables. But you may still achieve interaction with robotic grippers, we have a demo (Franka Deformable) that works well just with dynamic friction.