Franka Deformable Demo

I have two basic questions about this demo, since this demo scenario is to lift the red cube and then drop it to the bowl. Can I actually keep the cube grasped and not falling down? Also, is it possible to modify this demo scenario as my own use case, for instance, use another deformable object that I can modify by myself to grasp instead of the red cube?

Yes, you can view and edit the source code of the demo to change it. I see you already found the source. The other Franka demos have a better code setup to do more complex tasks.