Grasping rope with Franka arm and increasing friction value

Omniverse Isaac Sim
1

Isaac Sim Version

4.5.0

Operating System

Ubuntu 22.04

GPU Information

  • Model: RTX 4090

Topic Description

Detailed Description

Hello.
I am trying to grasp a deformable object in the shape of a rope with a Franka arm with panda gripper. my goal is to grasp, lift and move the rope
At the beginning the panda gripper couldn’t grasp the rope - the gripper closed on the rope in a good angle, but when the arm tried to lift the rope it slipped.

To solve it I tried to increase the dynamic friction of the rope to a value of 0.5, and it partially solved it: there are still occasional slips (way less than before), but now there is a lot of friction between the rope and the ground, and it is stretched when the robotic arm tries to move it.
I think about reducing the friction of the rope so it will stop stretching, and instead to increase the friction of the panda gripper.

my questions are:

  1. how can I change the friction of the panda gripper?
  2. is there another way I can reduce the rope stretching?

Steps to Reproduce

this is the python file for configuring the rope and the robotic arm I use:

rope_project_env_cfg.txt (3.0 KB)

the rope is a deformable object, here is it’s usd file:

Rope_usd_file.zip (273.2 KB)

3

Hi @ido.sefi, since this is an Isaac Lab issue can you post your question in GitHub · Where software is built so that it can be addressed in the correct place?

4

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